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    "story_id": "mp-2026-09-24-010",
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    "headline": "A Humanoid Policy Forgot Selected Motions",
    "slug": "a-humanoid-policy-forgot-selected-motions",
    "dek": "ForgetMimic suppressed designated behaviors while preserving the rest of a learned repertoire.",
    "summary": "ForgetMimic suppressed designated behaviors while preserving the rest of a learned repertoire.",
    "body_text": "ForgetMimic targets selected motions inside reinforcement-learned humanoid policies for removal while trying to preserve other behaviors. Tests on Unitree G1 and H2 robots covered 12 motions including dance, fight and flip sequences; the authors report that designated motions were eliminated without disrupting retained ones. The work addresses controlled forgetting in the tested policies, not a general guarantee that copyrighted or unsafe behavior can always be removed cleanly.",
    "why_it_matters": "ForgetMimic suppressed designated behaviors while preserving the rest of a learned repertoire.",
    "limitations": [
      "The work addresses controlled forgetting in the tested policies, not a general guarantee that copyrighted or unsafe behavior can always be removed cleanly."
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    "first_published_at": "2026-09-24T09:00:00.000-04:00",
    "modified_at": "2026-09-24T09:00:00.000-04:00",
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    "tags": [
      "humanoid robots",
      "machine unlearning",
      "reinforcement learning"
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  "sources": [
    {
      "source_id": "source-2026-09-24-010",
      "title": "arXiv preprint 2609.28378",
      "publisher": "arXiv",
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      "published_at": "2026-09-23T12:54:25.000-04:00",
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    "name": "The Machine Press",
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    "title": "A Humanoid Policy Forgot Selected Motions",
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