Result videos · simulation (MuJoCo) · anonymous submission
robot driven by the shared policyreference motion (retargeted mocap)
One network controls every robot shown here. It receives a description of the robot's joints and body, the joint state and a short window of the target motion; nothing in it is specific to a robot. Videos autoplay and loop; the camera follows the robot.
The shared policy (left) next to the reference it follows (right), on the training motions.
Unitree H1
Unitree G1
Booster T1
Boston Dynamics Atlas
Apptronik Apollo
A LAFAN1 dance sequence that was never used for training, on the same five-robot policy.
Unitree H1, held-out dance
Unitree G1, held-out dance
Booster T1, held-out dance
Atlas, held-out dance
Every training episode samples a new body variant (link lengths, masses, joint axes, actuator gains). Here the five-robot policy runs on randomized G1 bodies at the strongest randomization level used in training; meshes keep their nominal size, so only the changed link offsets are visible.
Three different randomized bodies, one policy, each next to its own reference (the reference is drawn on the nominal body).
The same on Atlas: three randomized bodies, one policy, each next to its own reference.
Two five-robot policies trained identically except for the motion input.
Left: the policy that sees only the current target pose loses the arm motion after long training under body randomization. Middle: adding a short window of the motion (as a token) keeps it locked to the reference.
The same effect on a two-robot policy trained four times longer: reference-only (left) vs. token (middle).
The policy never sees a joint target; its only motion input is a 96-bit code per joint and frame.
Unitree G1
Booster T1
Boston Dynamics Atlas
Other segments of the 20 training motions (dances, walks, runs, jumps, fights).
Unitree H1
Unitree G1
Booster T1
Boston Dynamics Atlas
A four-robot policy (H1, G1, T1, Atlas) applied to Apollo without any training on it; the only input it can transfer through is the per-joint code.
Its calmest stretch: almost six seconds of following a slow motion (demeaned joint error 0.20 rad against 0.32 for standing still) before it falls. Transfer to an unseen robot is preliminary.