From Festival Video to the Stage: A Sim-to-Real Ladder for Long-Horizon Expressive Whole-Body Dance on a Commercial Humanoid

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Article Summary

We present a pipeline for transferring Awa Odori, a traditional Japanese festival dance, from monocular video to a commercial Unitree G1 EDU humanoid. The pipeline combines human mesh recovery, kinematic retargeting, reinforcement learning for motion tracking in simulation, and onboard deployment via ONNX. Training ran on a single RTX 5070 GPU. An eleven-version deployment ladder evaluated on hardware examines three interventions. We detect and repair silent corruption of deployment artifacts, model state-estimator drift during training, and edit the reference motion to support stable execution and a controlled ending. The final policies achieved three consecutive rope-free completions of a 43-second routine, a 46-second performance with automatic handoff, and a continuous 9.7-minute rope-free performance composed from the captured motion. In a live handover, a single remote request let the robot start from and return to the manufacturer's walking controller on stage, with a measured torque-free window of 45-140 ms. We report the training dynamics and hardware outcomes and discuss failure boundaries involving compliant flooring and occlusion in monocular capture.

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