SMAP: Self-supervised Motion Adaptation for Physically Plausible Humanoid Whole-body Control

This paper presents a novel framework that enables real-world humanoid robots to maintain stability while performing human-like motion. Current methods train a policy which allows humanoid robots to follow human body using the massive retargeted human data via reinforcement learning. However, due to the heterogeneity between human and humanoid robot motion, directly using retargeted human motion reduces training efficiency and stability. To this end, we introduce SMAP, a novel whole-body tracking framework that bridges the gap between human and humanoid action spaces, enabling accurate motion mimicry by humanoid robots. The core idea is to use a vector-quantized periodic autoencoder to capture generic atomic behaviors and adapt human motion into physically plausible humanoid motion. This adaptation accelerates training convergence and improves stability when handling novel or challenging motions. We then employ a privileged teacher to distill precise mimicry skills into the student policy with a proposed decoupled reward. We conduct experiments in simulation and real world to demonstrate the superiority stability and performance of SMAP over SOTA methods, offering practical guidelines for advancing whole-body control in humanoid robots.

DanceTogether! Identity-Preserving Multi-Person Interactive Video Generation

Controllable video generation (CVG) has advanced rapidly, yet current systems falter when more than one actor must move, interact, and exchange positions under noisy control signals. We address this gap with DanceTogether, the first end-to-end diffusion framework that turns a single reference image plus independent pose-mask streams into long, photorealistic videos while strictly preserving every identity. A novel MaskPoseAdapter binds "who" and "how" at every denoising step by fusing robust tracking masks with semantically rich-but noisy-pose heat-maps, eliminating the identity drift and appearance bleeding that plague frame-wise pipelines. To train and evaluate at scale, we introduce (i) PairFS-4K, 26 hours of dual-skater footage with 7,000+ distinct IDs, (ii) HumanRob-300, a one-hour humanoid-robot interaction set for rapid cross-domain transfer, and (iii) TogetherVideoBench, a three-track benchmark centered on the DanceTogEval-100 test suite covering dance, boxing, wrestling, yoga, and figure skating. On TogetherVideoBench, DanceTogether outperforms the prior arts by a significant margin. Moreover, we show that a one-hour fine-tune yields convincing human-robot videos, underscoring broad generalization to embodied-AI and HRI tasks. Extensive ablations confirm that persistent identity-action binding is critical to these gains. Together, our model, datasets, and benchmark lift CVG from single-subject choreography to compositionally controllable, multi-actor interaction, opening new avenues for digital production, simulation, and embodied intelligence. Our video demos and code are available at https://DanceTog.github.io/.

TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation

Teleoperation is a cornerstone of embodied-robot learning, and bimanual dexterous teleoperation in particular provides rich demonstrations that are difficult to obtain with fully autonomous systems. While recent studies have proposed diverse hardware pipelines-ranging from inertial motion-capture gloves to exoskeletons and vision-based interfaces-there is still no unified benchmark that enables fair, reproducible comparison of these systems. In this paper, we introduce TeleOpBench, a simulator-centric benchmark tailored to bimanual dexterous teleoperation. TeleOpBench contains 30 high-fidelity task environments that span pick-and-place, tool use, and collaborative manipulation, covering a broad spectrum of kinematic and force-interaction difficulty. Within this benchmark we implement four representative teleoperation modalities-(i) MoCap, (ii) VR device, (iii) arm-hand exoskeletons, and (iv) monocular vision tracking-and evaluate them with a common protocol and metric suite. To validate that performance in simulation is predictive of real-world behavior, we conduct mirrored experiments on a physical dual-arm platform equipped with two 6-DoF dexterous hands. Across 10 held-out tasks we observe a strong correlation between simulator and hardware performance, confirming the external validity of TeleOpBench. TeleOpBench establishes a common yardstick for teleoperation research and provides an extensible platform for future algorithmic and hardware innovation.

SIGMAN:Scaling 3D Human Gaussian Generation with Millions of Assets

3D human digitization has long been a highly pursued yet challenging task. Existing methods aim to generate high-quality 3D digital humans from single or multiple views, but remain primarily constrained by current paradigms and the scarcity of 3D human assets. Specifically, recent approaches fall into several paradigms: optimization-based and feed-forward (both single-view regression and multi-view generation with reconstruction). However, they are limited by slow speed, low quality, cascade reasoning, and ambiguity in mapping low-dimensional planes to high-dimensional space due to occlusion and invisibility, respectively. Furthermore, existing 3D human assets remain small-scale, insufficient for large-scale training. To address these challenges, we propose a latent space generation paradigm for 3D human digitization, which involves compressing multi-view images into Gaussians via a UV-structured VAE, along with DiT-based conditional generation, we transform the ill-posed low-to-high-dimensional mapping problem into a learnable distribution shift, which also supports end-to-end inference. In addition, we employ the multi-view optimization approach combined with synthetic data to construct the HGS-1M dataset, which contains $1$ million 3D Gaussian assets to support the large-scale training. Experimental results demonstrate that our paradigm, powered by large-scale training, produces high-quality 3D human Gaussians with intricate textures, facial details, and loose clothing deformation.

ARMO: Autoregressive Rigging for Multi-Category Objects

Recent advancements in large-scale generative models have significantly improved the quality and diversity of 3D shape generation. However, most existing methods focus primarily on generating static 3D models, overlooking the potentially dynamic nature of certain shapes, such as humanoids, animals, and insects. To address this gap, we focus on rigging, a fundamental task in animation that establishes skeletal structures and skinning for 3D models. In this paper, we introduce OmniRig, the first large-scale rigging dataset, comprising 79,499 meshes with detailed skeleton and skinning information. Unlike traditional benchmarks that rely on predefined standard poses (e.g., A-pose, T-pose), our dataset embraces diverse shape categories, styles, and poses. Leveraging this rich dataset, we propose ARMO, a novel rigging framework that utilizes an autoregressive model to predict both joint positions and connectivity relationships in a unified manner. By treating the skeletal structure as a complete graph and discretizing it into tokens, we encode the joints using an auto-encoder to obtain a latent embedding and an autoregressive model to predict the tokens. A mesh-conditioned latent diffusion model is used to predict the latent embedding for conditional skeleton generation. Our method addresses the limitations of regression-based approaches, which often suffer from error accumulation and suboptimal connectivity estimation. Through extensive experiments on the OmniRig dataset, our approach achieves state-of-the-art performance in skeleton prediction, demonstrating improved generalization across diverse object categories. The code and dataset will be made public for academic use upon acceptance.

Towards Synthesized and Editable Motion In-Betweening Through Part-Wise Phase Representation

Styled motion in-betweening is crucial for computer animation and gaming. However, existing methods typically encode motion styles by modeling whole-body motions, often overlooking the representation of individual body parts. This limitation reduces the flexibility of infilled motion, particularly in adjusting the motion styles of specific limbs independently. To overcome this challenge, we propose a novel framework that models motion styles at the body-part level, enhancing both the diversity and controllability of infilled motions. Our approach enables more nuanced and expressive animations by allowing precise modifications to individual limb motions while maintaining overall motion coherence. Leveraging phase-related insights, our framework employs periodic autoencoders to automatically extract the phase of each body part, capturing distinctive local style features. Additionally, we effectively decouple the motion source from synthesis control by integrating motion manifold learning and conditional generation techniques from both image and motion domains. This allows the motion source to generate high-quality motions across various styles, with extracted motion and style features readily available for controlled synthesis in subsequent tasks. Comprehensive evaluations demonstrate that our method achieves superior speed, robust generalization, and effective generation of extended motion sequences.

HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit

Current humanoid teleoperation systems either lack reliable low-level control policies, or struggle to acquire accurate whole-body control commands, making it difficult to teleoperate humanoids for loco-manipulation tasks. To solve these issues, we propose HOMIE, a novel humanoid teleoperation cockpit integrates a humanoid loco-manipulation policy and a low-cost exoskeleton-based hardware system. The policy enables humanoid robots to walk and squat to specific heights while accommodating arbitrary upper-body poses. This is achieved through our novel reinforcement learning-based training framework that incorporates upper-body pose curriculum, height-tracking reward, and symmetry utilization, without relying on any motion priors. Complementing the policy, the hardware system integrates isomorphic exoskeleton arms, a pair of motion-sensing gloves, and a pedal, allowing a single operator to achieve full control of the humanoid robot. Our experiments show our cockpit facilitates more stable, rapid, and precise humanoid loco-manipulation teleoperation, accelerating task completion and eliminating retargeting errors compared to inverse kinematics-based methods. We also validate the effectiveness of the data collected by our cockpit for imitation learning. Our project is fully open-sourced, demos and code can be found in https://homietele.github.io/.

GAS: Generative Avatar Synthesis from a Single Image

We introduce a generalizable and unified framework to synthesize view-consistent and temporally coherent avatars from a single image, addressing the challenging problem of single-image avatar generation. While recent methods employ diffusion models conditioned on human templates like depth or normal maps, they often struggle to preserve appearance information due to the discrepancy between sparse driving signals and the actual human subject, resulting in multi-view and temporal inconsistencies. Our approach bridges this gap by combining the reconstruction power of regression-based 3D human reconstruction with the generative capabilities of a diffusion model. The dense driving signal from the initial reconstructed human provides comprehensive conditioning, ensuring high-quality synthesis faithful to the reference appearance and structure. Additionally, we propose a unified framework that enables the generalization learned from novel pose synthesis on in-the-wild videos to naturally transfer to novel view synthesis. Our video-based diffusion model enhances disentangled synthesis with high-quality view-consistent renderings for novel views and realistic non-rigid deformations in novel pose animation. Results demonstrate the superior generalization ability of our method across in-domain and out-of-domain in-the-wild datasets. Project page: https://humansensinglab.github.io/GAS/

ScaMo: Exploring the Scaling Law in Autoregressive Motion Generation Model

The scaling law has been validated in various domains, such as natural language processing (NLP) and massive computer vision tasks; however, its application to motion generation remains largely unexplored. In this paper, we introduce a scalable motion generation framework that includes the motion tokenizer Motion FSQ-VAE and a text-prefix autoregressive transformer. Through comprehensive experiments, we observe the scaling behavior of this system. For the first time, we confirm the existence of scaling laws within the context of motion generation. Specifically, our results demonstrate that the normalized test loss of our prefix autoregressive models adheres to a logarithmic law in relation to compute budgets. Furthermore, we also confirm the power law between Non-Vocabulary Parameters, Vocabulary Parameters, and Data Tokens with respect to compute budgets respectively. Leveraging the scaling law, we predict the optimal transformer size, vocabulary size, and data requirements for a compute budget of $1e18$. The test loss of the system, when trained with the optimal model size, vocabulary size, and required data, aligns precisely with the predicted test loss, thereby validating the scaling law.

Horizon-GS: Unified 3D Gaussian Splatting for Large-Scale Aerial-to-Ground Scenes

Seamless integration of both aerial and street view images remains a significant challenge in neural scene reconstruction and rendering. Existing methods predominantly focus on single domain, limiting their applications in immersive environments, which demand extensive free view exploration with large view changes both horizontally and vertically. We introduce Horizon-GS, a novel approach built upon Gaussian Splatting techniques, tackles the unified reconstruction and rendering for aerial and street views. Our method addresses the key challenges of combining these perspectives with a new training strategy, overcoming viewpoint discrepancies to generate high-fidelity scenes. We also curate a high-quality aerial-to-ground views dataset encompassing both synthetic and real-world scene to advance further research. Experiments across diverse urban scene datasets confirm the effectiveness of our method.