InterMimicGen Scales Humanoid Loco-Manipulation Via Self-Evolving Motion-Imitation Flywheel

InterMimicGen, posted October 5, retargets motion-capture human-object demos onto humanoid robots with dexterous hands, trains a generalist tracker in simulation, and runs a self-evolving loop where small task-preserving edits are kept only when the tracker still succeeds. The authors report broader motion coverage round over round and successful sim-to-real transfer from the compounded demonstration bank.