X-Morph retargets human motions to kinematically plausible references for multiple legged morphologies, trains privileged RL trackers, and distills them into deployable policies that generalize and enable teleoperation and text-conditioned generation.
arXiv preprint arXiv:2509.25600 , year=
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AnyAct generates editable human reenactments from character videos via conditional motion generation from transferable sparse local 2D articulated cues, with designs for human-only supervision and global-local decoupling.
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X-Morph: Human Motion Priors for Scalable Robot Learning Across Morphologies
X-Morph retargets human motions to kinematically plausible references for multiple legged morphologies, trains privileged RL trackers, and distills them into deployable policies that generalize and enable teleoperation and text-conditioned generation.