Cross-Embodiment Robot Learning

Follow this topic Ask about this topic

Momentum

52 papers in the last four weeks, up 550% on the four weeks before. 0.5% of all new papers.

Jul 13Week of Sep 28

Latest papers 232

All topics

X-Morph: Human Motion Priors for Scalable Robot Learning Across Morphologies
Jun 29, 2026Ritwik Sharma, Shivam Sood, Arhaan Jain +3Cross-Embodiment Robot Learning Motion Retargeting
National University of Singapore
WARP: Whole-Body Retargeting for Learning from Offline Human Demonstrations
Jun 29, 2026Zhenyang Chen, Chuizheng Kong, Chuye Zhang +4Mobile Manipulation Cross-Embodiment Robot Learning
Georgia Institute of Technology, Atlanta, Georgia 30332
CORE: Common Outcome Regularities from Action-Free Visual Demonstrations for Robot Manipulation
Jun 28, 2026Juyi Sheng, Jincheng Li, Mingxin Tan +1Robot Skill Learning Cross-Embodiment Robot Learning
1Peking University, Shenzhen Graduate School, Shenzhen, China
Keypose Exploration: Efficient Automatic Trajectory Labelling and Cross-Embodiment Policy Transfer
Jun 27, 2026Yupu Lu, Hang Xu, Yizhou Chen +1Robot Policy Learning Cross-Embodiment Robot Learning
School of Computing and Data Science, The University of Hong Kong, HKSAR.
Human2Any: Human-to-Robot Transfer via Constraint-Aware Compositional Planning
Jun 27, 2026Shuo Cheng, Chuye Zhang, Alfred Cueva +3Robot Skill Learning Generalization in Robotic Manipulation
Georgia Institute of Technology · NVIDIA Corporation
Embodiment Meets Environment: Toward Context-Aware, Safe Physical Caregiving Robots
Jun 26, 2026Zhanxin Wu, Ruofei Tong, Jiaying Fang +1Cross-Embodiment Robot Learning Assistive Robotics
Cornell University
Translation as a Bridging Action: Transferring Manipulation Skills from Humans to Robots
Jun 26, 2026Sijin Chen, Kaixuan Jiang, Haixin Shi +6Bimanual Robotic Manipulation Cross-Embodiment Robot Learning
1HKU-MMLab · 2ByteDance Seed
HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
Jun 25, 2026Hongwu Wang, Chenhao Yu, Youhao Hu +3Robot Skill Learning Robotic Data Collection
Beijing Academy of Artificial Intelligence
Learning Action Priors for Cross-embodiment Robot Manipulation
Jun 24, 2026Dong Jing, Tianqi Zhang, Jiaqi Liu +5Cross-Embodiment Robot Learning Robotic Manipulation
Renmin University of China · University of North Carolina at Chapel Hill · University of Toronto +1
Learning Perceptive Platform Adaptive Locomotion Controllers for Quadrupedal Robots
Jun 23, 2026David Rytz, Kim Tien Ly, Ioannis HavoutisRobot Skill Learning Cross-Embodiment Robot Learning
Dynamic Robot Systems, Oxford Robotics Institute, University of Oxford
SPACE: Enabling Learning from Cross-Robot Data Toward Generalist Policies
Jun 23, 2026Haeone Lee, Byeongguk Jeon, Suchae Jeong +2Robotic Control Robot Policy Adaptation
1KAIST · 2Config · 3Yonsei University
LaST-HD: Learning Latent Physical Reasoning from Scalable Human Data for Robot Manipulation
Jun 22, 2026Jiaming Liu, Yinxi Wang, Chenyang Gu +15World Models for Robotics Generalization in Robotic Manipulation
State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University · The Chinese University of Hong Kong · Aether Tech +1
Flow as Flow: Modeling Robot Velocity Fields as Probability Velocity Fields for Flow-Based Object Manipulation
Jun 22, 2026Koki Seno, Daichi Yashima, Yusuke Takagi +2Flow Matching Cross-Embodiment Robot Learning
Keio University, Japan
Cloak: Zero-Shot Cross-Embodiment Manipulation by Masking the End-Effector from the VLA
Jun 22, 2026Michael Piseno, Guy Tevet, C. Karen LiuZero-Shot Robotic Manipulation Language-Conditioned Robot Manipulation
Stanford University
OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation
Jun 20, 2026Yingdong Hu, Haodong Zhu, Boyuan Zheng +6Humanoid Loco-Manipulation Long-Horizon Robotic Manipulation
Tsinghua University · Shanghai Qi Zhi Institute · Spirit AI
KITE: Decoupling Kinematics and Interaction for Zero-Shot Cross-Embodiment Manipulation
Jun 20, 2026Qianxu Wang, Kuan FangZero-Shot Robotic Manipulation Generalization in Robotic Manipulation
Cornell University
Robot Self-Improvement via Human-Video Dynamics Models
Jun 19, 2026Hanzhi Chen, Anran Zhang, Simon Schaefer +5Robot Skill Learning Policy Optimization
1ETH Zurich · 2Technical University of Munich · 4MCML +1
Duet: Dual-Robot Understanding via Efficient Teaching
Jun 18, 2026Yiqi Zhao, Ruohai Ge, Celina Shiyu Wang +10Robotic Data Collection Robot Teleoperation
University of Southern California · 2Toyota Research Institute · 3Stanford University
HumanScale: Egocentric Human Video Can Outperform Real-Robot Data for Embodied Pretraining
Jun 18, 2026Juncheng Ma, Jianxin Bi, Yufan Deng +19Robot Foundation Models Cross-Embodiment Robot Learning
PKU · NUS · MIT +2
Do as I Do: Dexterous Manipulation Data from Everyday Human Videos
Jun 17, 2026Bhawna Paliwal, Haritheja Etukuru, William Liang +3Robotic Data Collection Cross-Embodiment Robot Learning
UC Berkeley
Motion-Focused Latent Action Enables Cross-Embodiment VLA Training from Human EgoVideos
Jun 17, 2026Runze Xu, Yiluo Zhang, Jian Wang +2Latent Action Learning VLM Adaptation
Department of Electronic Engineering, Tsinghua University · Tianfu Jiangxi Laboratory
HALOMI: Learning Humanoid Loco-Manipulation with Active Perception from Human Demonstrations
Jun 17, 2026Zehui Zhao, Yuxuan Zhao, Gaojing Zhang +3Active Perception Humanoid Loco-Manipulation
Shanghai Jiao Tong University · University of Sussex · East China University of Science and Technology
Knowledge Reutilization in Meta-Reinforcement Learning
Jun 16, 2026Yuan Meng, Bo Wang, Juan de los Rios Ruiz +4Cross-Embodiment Robot Learning Meta-Reinforcement Learning
School of Computation, Information and Technology, Technical University of Munich, Munich, Germany · State Key Laboratory for Novel Software Technology, Nanjing University, Suzhou, China · Department of Computer Science and Technology, Tsinghua University, Beijing, China
EAGG: Embodiment-Aligned Grasp Generation via Geometry-Aware Graph Conditioning
Jun 16, 2026Wanhao Niu, Qiyan Ke, Yuan Sun +5Robotic Grasping Generalization in Robotic Manipulation
Department of Computer Science and Technology, Tsinghua University, Beijing, China · Beijing Moce Future Technology Co., Ltd., Beijing, China
Qwen-RobotManip Technical Report: Alignment Unlocks Scale for Robotic Manipulation Foundation Models
Jun 16, 2026Haoqi Yuan, Zhixuan Liang, Anzhe Chen +20Robot Skill Learning Robot Foundation Models
Qwen Team
EgoInfinity: A Web-Scale 4D Hand-Object Interaction Data Engine for Any-View Robot Retargeting and Video-to-Action Robot Learning
Jun 16, 2026Gaotian Wang, Kejia Ren, Andrew Morgan +4Robotic Data Collection Cross-Embodiment Robot Learning
Rice University · Robotics and AI Institute
ACE-Ego-0: Unifying Egocentric Human and Robotic Data for VLA Pretraining
Jun 15, 2026Hao Li, Ganlong Zhao, Yufei Liu +8Cross-Embodiment Robot Learning Vision-Language-Action Models
ACE Robotics · CUHK MMLab · SJTU +2
Unified Motion-Action Modeling for Heterogeneous Robot Learning
Jun 15, 2026Yunhao Cao, Shitong Liu, Chao Feng +4Robotic Control Robot Dynamics Learning
Cornell University
VENOM: Versatile Embodied Network for Omni-bodied Motion tracking
Jun 15, 2026Siddharth Padmanabhan, Kazuki Miyazawa, Takato HoriiRobotic Control Humanoid Robot Control
Graduate School of Engineering Science, University of Osaka, 1-3 Machikaneyama-cho, Toyonaka-shi, Osaka 560-8531, Japan
V2P-Manip: Learning Dexterous Manipulation from Monocular Human Videos
Jun 15, 2026Kaihan Chen, Yanming Shao, Haifeng Ji +2Cross-Embodiment Robot Learning Robotic Manipulation
Zhejiang University, Hangzhou, China · Shanghai Jiao Tong University, Shanghai, China · Shanghai AI Laboratory, Shanghai, China

Jun 29, 2026, cs.ROJ/K move · Enter open · S save

X-Morph: Human Motion Priors for Scalable Robot Learning Across Morphologies

Ritwik Sharma, Shivam Sood, Arhaan Jain, Shyam Charan Kesavamoorthi+2

National University of Singapore

Cross-Embodiment Robot Learning Motion Retargeting Robot Locomotion RL for Legged Locomotion Robot Imitation Learning

Open paper AskPDF arXiv

Recent progress in humanoid behavior models has been driven in large part by abundant human motion data, but comparable motion data is scarce for non-humanoid legged robots such as quadrupeds, hexapods, and quadruped manipulators. A promising alternative is to repurpose human motion across embodiments; however, direct retargeting often produces motions that are visually plausible yet physically inconsistent or difficult to track under robot dynamics. We present X-Morph, a human-motion-to-robot-behavior pipeline that converts human motion into deployable locomotion and loco-manipulation policies for diverse non-humanoid legged morphologies. A cross-morphology retargeting stage converts human motions into kinematically plausible, intent-preserving robot references, which are then tracked by a privileged RL policy and distilled into a causal student policy. We evaluate X-Morph on three morphologically distinct platforms: a quadruped, a hexapod, and a quadruped equipped with a manipulator. The resulting policies track diverse retargeted motions, generalize to unseen human motions, and support downstream use cases including video-based teleoperation, behavior-prior control, and text-conditioned motion generation. These results suggest that large-scale human motion can serve as a substrate for learning broad, reusable behavior priors beyond humanoid robots. Project page: https://maker-rat.github.io/morph/

Momentum

Related topics

Latest papers 232