# HAN Humanoid Motion Control Model

## Overview
This model is designed for humanoid robot motion control and task execution.
It focuses on balance, walking patterns, and basic object interaction.

## Model Type
Transformer-based sequence model

## Training Data
- Synthetic humanoid motion dataset
- Reinforcement learning simulations
- Human motion capture samples

## Input
- Joint angles
- Sensor signals (IMU, force sensors)
- Task command tokens

## Output
- Motor control signals
- Motion trajectory predictions

## Framework
PyTorch

## Use Case
- Humanoid robot walking
- Object pickup simulation
- Balance recovery tasks

## License
MIT