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arXiv · 2605.24592

MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots

Yusen Feng·Xiang Wang·Heyuan Yao·Zixi Kang·Xinyu Huo·Boyang Yu·Pengyun Qiu·Ruijie Zhao·Baoquan Chen·Libin Liu
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Abstract

This paper presents MuGen, a data-driven framework for learning and deploying multi-skill locomotion on humanoid robots. MuGen enables a robot to perform expressive motions like humans under the guidance of example motion sequences. To achieve this, we employ vector-quantized autoencoders (VQ-VAEs) trained with model-based reinforcement learning, resulting in a generative representation of locomotion that captures key patterns of human motion from hours of heterogeneous human performance data. We employ a teacher-student learning framework and develop a new policy distillation strategy to enable a deployable student policy learning this efficient latent representation. This policy allows the robot to track and mimic unseen human motions and further enables the robot to reuse the learned latent space for other tasks. We demonstrate the effectiveness of our framework through a diverse set of motions and accurate execution.

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Yusen Feng, Xiang Wang, Heyuan Yao, Zixi Kang, Xinyu Huo, Boyang Yu, Pengyun Qiu, Ruijie Zhao, Baoquan Chen, Libin Liu. 2026-05-23. MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots. https://arxiv.org/abs/2605.24592

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