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About this paper
Zihan Chen, Chuye Hong, Ziteng Ji, Ruiqi Zhang, Mark W. Mueller, Koushil Sreenath
The authors present humanoid dribbling control that steers the ball toward a look-ahead point on a desired route, correcting lateral error between foot contacts. A frozen controller distilled from human soccer motions supplies actions to a learned policy. On a Unitree G1, mean ball route-progress speeds were 1.26 m/s on straight and 1.00 m/s on four-pole slalom courses, not evidence of match performance.
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