Exbody2: High-Fidelity Whole-Body Motion Mimicry in Humanoid Robots

Researchers have developed Exbody2, a generalized whole-body tracking framework enabling humanoid robots to perform expressive motions with human-like stability. Trained in simulation using Reinforcement Learning and then transferred to the real world, Exbody2 decouples keypoint tracking from velocity control. It leverages a privileged teacher policy to distill precise mimicry skills, achieving high-fidelity replication of dynamic movements such as running, crouching, and dancing. Experiments on two humanoid platforms demonstrate superior performance compared to state-of-the-art methods, providing practical guidelines for advanced whole-body control in humanoid robotics.