MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpainting

MaskedMimic is a single, unified controller for physics‑based humanoid characters, capable of generating a wide range of motions over diverse terrains from intuitive user intents. Demonstrated applications include full‑body motion from partial joint targets, joystick steering, object interaction, path following, text‑conditioned styles, and compositional combinations of these modalities.

The approach leverages masked motion inpainting within a reinforcement learning framework to achieve robust control and stylistic flexibility, bridging intuitive interfaces (e.g., text and paths) with physically feasible, realistic motion.