Ritwik Sharma

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

Ritwik Sharma, Shivam Sood, Arhaan Jain, Shyam Charan Kesavamoorthi, Chengyang He, Guillaume Sartoretti

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 mot…Read more