MimicX: Policy-in-the-Loop Supervision Refinement for Video-Driven Humanoid Motion Tracking

arXiv:2610.09055 · cs.RO, cs.AI · Submitted 2026-10-06 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-10-06

Updated: 2026-10-06

Code: https://github.com/NEBULIS-Lab/MimicX

Project page: https://nebulis-lab.com/MimicX

Terminology

• Verification — 35× in this paper · explained in 2 episodes
• Core — 24× in this paper · explained in 2 episodes
• Fidelity — 8× in this paper · explained in 2 episodes
• AUC — 7× in this paper · explained in 2 episodes
• Adaptation — 5× in this paper · explained in 1 episode
• Consistency — 5× in this paper · explained in 3 episodes
• Alignment — 4× in this paper · explained in 1 episode
• Accuracy — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Trace — 3× in this paper · explained in 2 episodes
• Actor — 2× in this paper · explained in 3 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Meta-learning — 1× in this paper · explained in 2 episodes
• Provenance — 1× in this paper · explained in 3 episodes

Sources

• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• Towards Adaptable Humanoid Control via Adaptive Motion Tracking
• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
• Proximal Policy Optimization Algorithms
• mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning
• MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction

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