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XMimic: One Policy for Whole-Body Motion Tracking

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XMimic trains one whole-body tracking policy on all 40 LAFAN1 clips in 54 seconds on four H100s, reporting 3.5x faster training than BlinkMimic.

XMimic Unitree G1 Whole-Body Tracking LAFAN1 Robot Learning

Category: humanoid

Author: @NicoBohlinger

Date: 2026-11-07T00:00:00

Duration: 17.8s

Source: https://x.com/NicoBohlinger/status/2118877190431691230

Reference: https://github.com/nico-bohlinger/xmimic

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