Reproduce “From Festival Video to the Stage: A Sim-to-Real Ladder for Long-Horizon Expressive Whole-Body Dance on a Commercial Humanoid” on OpenResearch
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About this paper
Hesham Shehata
The authors document deploying an Awa Odori dance from ordinary video on a Unitree G1. They retarget the motion, train a reference-specific tracker, validate exported settings, and edit choreography for balance and safe handoffs. The resulting policy completed a continuous 9.7-minute rope-free routine on hard floor. Hardware trials were few, drift remained, and compliant foam remained a failure condition.
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