alt Hacker NewsIt’s not a 1:1 human motion capture to servo translation. There is some work done to fix Center of gravity like you said and issues with friction and momentum.
The hard part with “autonomy” is interpretation of the environment and feeding that back into some control loop to accomplish a goal in real time. That is why most of these demos are basically recordings of movements, like choreography.
They're also interacting with the environment (vaulting boxes / walls), which implies they either know their 3D position very accurately, or they have some form of sensors and can adapt a bit.