AIBullisharXiv – CS AI · 10h ago7/10
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MotionPyramid: Hierarchical Motion Representation and Residual Interfaces
MotionPyramid introduces a hierarchical action representation for humanoid control that learns motion structure from data, organizing behaviors across temporal scales from immediate motor commands to complex skills. The system uses frozen pretrained hierarchies as reusable action interfaces for reinforcement learning, with residual interfaces allowing policies to blend coarse and fine-grained control, demonstrating that motion can be organized like perceptual hierarchies.