PhaseSync-Exo: Human Clock Anchored Reference Adaptation for Dynamic Gait Tracking

arXiv:2609.38824 · cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

Terminology

• Actor — 10× in this paper · explained in 3 episodes
• Consistency — 9× in this paper · explained in 3 episodes
• Adaptation — 7× in this paper · explained in 1 episode
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Alignment — 3× in this paper · explained in 1 episode
• Transformer — 3× in this paper · explained in 2 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Modularity — 1× in this paper · explained in 9 episodes

Sources

• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• Proximal Policy Optimization Algorithms
• High-Dimensional Continuous Control Using Generalized Advantage Estimation
• Reinforcement Learning and Control of a Lower Extremity Exoskeleton for Squat Assistance

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