mlsanityData to 7 Oct 2026

OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control

arXiv 2602.23843 ↗First posted 27 Feb 2026cs.ROcited by 13

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Abstract (arXiv)

High-fidelity motion tracking serves as the ultimate litmus test for generalizable, human-level motor skills. However, current policies often hit a "generality barrier": as motion libraries scale in diversity, tracking fidelity inevitably collapses - especially for real-world deployment of high-dynamic motions. We identify this failure as the result of two compounding factors: the learning bottleneck in scaling multi-motion optimization and the physical executability constraints that arise in real-world actuation. To overcome these challenges, we introduce OmniXtreme, a scalable framework that decouples general motor skill learning from sim-to-real physical skill refinement. Our approach uses a flow-matching policy with high-capacity architectures to scale representation capacity without interference-intensive multi-motion RL optimization, followed by an actuation-aware refinement phase that ensures robust performance on physical hardware. Extensive experiments demonstrate that OmniXtreme maintains high-fidelity tracking across diverse, high-difficulty datasets. On real robots, the unified policy successfully executes multiple extreme motions, effectively breaking the long-standing fidelity-scalability trade-off in high-dynamic humanoid control.

Key facts. Cited by 13 papers in the map (data through 7 Oct 2026). First posted on arXiv 27 Feb 2026.

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  1. 2026OmniTrack: General Motion Tracking via Physics-Consistent Reference
  2. 2025BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
  3. 2025Learning Generalizable Visuomotor Policy through Dynamics-Alignment
  4. 2026Scaling Tasks, Not Samples: Mastering Humanoid Control through Multi-Task Model-Based Reinforcement Learning
  5. 2025SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
  6. 2025KungfuBot2: Learning Versatile Motion Skills for Humanoid Whole-Body Control
  7. 2026Psi0: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation
  8. 2026DreamControl-v2: Simpler and Scalable Autonomous Humanoid Skills via Trainable Guided Diffusion Priors