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

Abstract

We introduce MaskedMimic a single unified controller for physically simulated humanoids. Our system is capable of generating a wide range of motions across diverse terrains from intuitive user-defined intents. In this work, we show several applications, including generating full-body motion from partial joint target positions, responding to joystick steering, engaging in object interactions, following paths, interpreting text commands, and even combining these modalities, such as executing text-stylized path following.