[Paper] PhysMoDPO: Physically-Plausible Humanoid Motion with Preference Optimization

Summary

PhysMoDPO addresses a key challenge in text-conditioned human motion generation, where applying Whole-Body Controllers (WBC) to ensure physical plausibility often causes significant deviations from the original diffusion-generated motions. This paper introduces a method utilizing preference optimization to create humanoid motions that are both physically compliant and maintain fidelity to the initial motion. This advancement is crucial for developing more realistic character animations and effective real robot control.

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