# SHARE: Sharing Human Actions across Robot Embodiments through Unified Retargeting and Tracking

arXiv: https://arxiv.org/abs/2601.07284 · HTML: https://mlsanity.com/paper/2601.07284/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 12 Jan 2026.

## Built on by (most cited first, 1 of 1)

- [A Unified Conditional Flow for Motion Generation, Editing, and Intra-Structural Retargeting](https://mlsanity.com/paper/2604.13427/) (2026)

## Abstract (arXiv)

The central challenge in reusing human actions across robots is the need to realize shared intent through incompatible kinematics, dynamics, and control interfaces. We present SHARE, which decomposes action sharing into two connected stages---reference generation and feedback execution---and uses native robot references as their interface to achieve shared structure, native realization. In the reference-generation stage, AdaMorph extracts human-motion intent with a shared temporal backbone and generates embodiment-compatible references through robot-conditioned decoding. In the feedback-execution stage, AdaTrack combines these references with proprioception, action history, and morphology, then uses variable-length dynamic representations, morphology-conditioned attention, expert distillation, and closed-loop reinforcement learning to emit native actions from one shared Actor. On G1, HI, AD, and T1, AdaMorph attains seen/unseen root-speed Pearson correlation coefficients (PCCs) of 0.951/0.894; AdaTrack reaches 94.00%/91.96% closed-loop Success Rate with 21.15% of the total parameters in four specialist Actors, while cross-embodiment pretraining improves seen/unseen adaptation by 9.67/13.62 points with only 1% target data.