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PFM-HR: Pose Flow Matching for Humanoid Robots — arXiv:2608.03227

Source: arXiv (en)
Original: https://arxiv.org/abs/2608.03227
License (as archived): CC0-1.0
Archived: 2026-10-31T13:07:52.808Z
SHA-256 of the archived text: 0531387c8f4aa40bb5f1c06ef3c38720be889d086f98995607caa18ff84c38f4
Stable URL of this page: https://metraipolis.com/documento/dc_fefbbce90df7

How to cite

PFM-HR: Pose Flow Matching for Humanoid Robots — arXiv:2608.03227 — arXiv (en), https://arxiv.org/abs/2608.03227 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_fefbbce90df7 (Metraipolis archive dc_fefbbce90df7, sha256 0531387c8f4aa40bb5f1c06ef3c38720be889d086f98995607caa18ff84c38f4)

BibTeX

@misc{dcfefbbce90df7,
  title = {PFM-HR: Pose Flow Matching for Humanoid Robots — arXiv:2608.03227},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2608.03227},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_fefbbce90df7; sha256 0531387c8f4aa40bb5f1c06ef3c38720be889d086f98995607caa18ff84c38f4},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2608.03227. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Motion priors improve reinforcement learning for physics-based humanoid tracking, but temporal priors require ordered motion clips, while pose priors provide limited guidance for policy-induced pose transitions. We present Pose Flow Matching for Humanoid Robots (PFM-HR), a reusable flow matching prior trained directly on large scale unordered pose data. PFM-HR introduces the Pose Geometry Score (PGS), which quantifies how joint coordinate changes during rollouts align with the local geometry of pose variation captured by the prior. Using PGS to modulate the tracking reward guides policy exploration toward structured pose changes while keeping the prior frozen across tracking tasks. Experiments demonstrate that PFM-HR improves both single motion and general motion tracking, especially for highly dynamic motions.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-08-05 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2608.03227 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-31T12:55:56.554Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-08-05?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).