How can we train and evaluate robot imitation learning effectively? This is the problem BeyondMiMic aims to address. BeyondMiMic is a real-world motion imitation framework for humanoid control developed by @Hybrid Robotics. It enables natural and versatile motion tracking using diffusion-based controllers, with a focus on practical deployment on real robots. (Note: guided diffusion control is included but still under exploration.) Key Capabilities: ✅ Motion Tracking: Learn policies that track di