Jun 25, 2026J/K move · Enter open · S save
Yi Lu, Shenghao Ren, Tianyu Xiong, Zhaoxiang Li+5
School of Electronic Science and Engineering, Nanjing University, Nanjing 210023, China. · BNRist, Tsinghua University, Beijing 100084, China. · Key Laboratory of Optoelectronic Devices and Systems with Extreme Performances of MOE, Nanjing University, Nanjing 210023, China.
Humanoid motion imitation requires not only accurate perception of human kinematics but also faithful reproduction of physical interactions with the environment. However, existing pipelines rely primarily on vision-based motion capture and kinematic imitation, largely ignoring contact dynamics, leading to artifacts such as foot sliding, floor penetration, and unstable behaviors. In this work, we revisit humanoid motion imitation from the perspective of physical grounding and leverage pressure as a unified modality across perception and control. We present PressMimic, a framework that integrates pressure into the full pipeline from motion capture to humanoid control. In the perception stage, we introduce FRAPPE++, a multimodal model that fuses RGB and pressure to jointly estimate 3D pose and global motion, where pressure provides explicit contact and support constraints to resolve ambiguity in vision-based estimation. In the control stage, we propose a pressure-supervised policy (PSP) that incorporates pressure-derived signals into reinforcement learning, enabling physically consistent contact patterns during execution. We further construct MotionPRO, a large-scale dataset with synchronized RGB, pressure, and motion capture data. Experiments show that pressure improves motion estimation accuracy, trajectory consistency, and execution stability. These results demonstrate that pressure serves as an effective physical grounding signal, bridging perception and control for physically consistent humanoid motion imitation.