KungfuAthleteBot: Learning High-Dynamic Motion from Videos with Unified Robust Recovery

arXiv:2602.13656v2 Announce Type: replace Abstract: Learning highly dynamic motions from video provides a scalable alternative to expensive data collection for humanoid robots, yet it is challenged by height floating, missing kinematic and force information, and limited robustness. We present KungfuAthleteBot (KAB), a unified framework that systematically addresses these issues. We first build a high-dynamic motion dataset in collaboration with professional martial artists, alleviating data scarcity while improving motion quality. To eliminate height drift and global jitter during both aerial and landing phases, we introduce a physics-guided parabolic trajectory correction that enforces physical plausibility. To bridge the discrepancy between human and robot actuation in highly dynamic behaviors, we design a three-stage curriculum that progressively enables stable acquisition of such motions. In addition, we propose a direct, teacher-free training paradigm that jointly learns disturbance rejection and fall recovery within a single policy. To the best of our knowledge, KAB achieves the fastest recovery time reported for a unified policy ($\approx 0.7$s). Experiments on a real humanoid robot demonstrate successful learning of highly dynamic motions from video and strong robustness, including rapid recovery under severe disturbances.