OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control
Not on the map. Why?
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.
Builds on
No reference list yet.
Built on by
Citing papers per year: 2026: 13.
13 papers.
Sort:
By area:
- 2026Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Controlcited by 5
- 2026Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priorscited by 2
- 2026Scaling Behavior Foundation Model for Humanoid Robotscited by 2
- 2026ExpertGen: Scalable Sim-to-Real Expert Policy Learning from Imperfect Behavior Priorscited by 1
- 2026SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Frameworkcited by 1
- 2026EgoKit: Towards Unified Low-Cost Egocentric Data Collection with Heterogeneous Devicescited by 0
- 2026Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Trackingcited by 0
- 2026Reinforcement Learning for Flow-Matching Policies with Density Transportcited by 0
- 2026Behavior Foundations for Quadruped Robots: ABot-C0 Technical Reportcited by 0
- 2026GigaBrain-WBC-0.5: A Behavior World Model for Robust Humanoid Whole-Body Tracking with Environment Interactioncited by 0
- 2026Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Trackingcited by 0
- 2026ForgetMimic: Motion Unlearning for Reinforcement Learning Humanoid Controlcited by 0
1 more
- 2026Learning Expressive and Compositional Motion Representation via Spectral Skills29 Sep 2026
- 2026ForgetMimic: Motion Unlearning for Reinforcement Learning Humanoid Control23 Sep 2026
- 2026Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Tracking20 Aug 2026
- 2026GigaBrain-WBC-0.5: A Behavior World Model for Robust Humanoid Whole-Body Tracking with Environment Interaction18 Aug 2026
- 2026Scaling Behavior Foundation Model for Humanoid Robots16 Jul 2026
- 2026Behavior Foundations for Quadruped Robots: ABot-C0 Technical Report8 Jul 2026
- 2026Reinforcement Learning for Flow-Matching Policies with Density Transport7 Jun 2026
- 2026Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Tracking22 May 2026
- 2026Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors21 May 2026
- 2026SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Framework19 May 2026
- 2026EgoKit: Towards Unified Low-Cost Egocentric Data Collection with Heterogeneous Devices16 May 2026
- 2026Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control29 Mar 2026
- 2026Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Controlcited by 5
- 2026Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priorscited by 2
- 2026Scaling Behavior Foundation Model for Humanoid Robotscited by 2
- 2026SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Frameworkcited by 1
- 2026EgoKit: Towards Unified Low-Cost Egocentric Data Collection with Heterogeneous Devicescited by 0
- 2026Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Trackingcited by 0
- 2026Behavior Foundations for Quadruped Robots: ABot-C0 Technical Reportcited by 0
- 2026Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Trackingcited by 0
- 2026Learning Expressive and Compositional Motion Representation via Spectral Skillscited by 0
- 2026Learning Expressive and Compositional Motion Representation via Spectral Skills29 Sep 2026
- 2026Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Tracking20 Aug 2026
- 2026Scaling Behavior Foundation Model for Humanoid Robots16 Jul 2026
- 2026Behavior Foundations for Quadruped Robots: ABot-C0 Technical Report8 Jul 2026
- 2026Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Tracking22 May 2026
- 2026Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors21 May 2026
- 2026SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Framework19 May 2026
- 2026EgoKit: Towards Unified Low-Cost Egocentric Data Collection with Heterogeneous Devices16 May 2026
- 2026Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control29 Mar 2026
Similar, not cited
Close in wording, no citation either way
- 2026OmniTrack: General Motion Tracking via Physics-Consistent Reference
- 2025BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
- 2025Learning Generalizable Visuomotor Policy through Dynamics-Alignment
- 2026Scaling Tasks, Not Samples: Mastering Humanoid Control through Multi-Task Model-Based Reinforcement Learning
- 2025SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
- 2025KungfuBot2: Learning Versatile Motion Skills for Humanoid Whole-Body Control
- 2026Psi0: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation
- 2026DreamControl-v2: Simpler and Scalable Autonomous Humanoid Skills via Trainable Guided Diffusion Priors