Progressively Learning Heterogeneous Skills in a Unified Latent Space

We propose HetSkills, a novel framework designed to progressively learn heterogeneous skills within a unified latent space for physics-based character control. The core idea is to treat this latent space as a shared executable interface, enabling seamless integration of skills learned from diverse data sources, supervision forms, and tasks. HetSkills begins by learning a tracking skill that establishes a strong foundation in motion control and creates a shared motion decoder, which can be reused across tasks without the need for retraining or separate controllers. To prevent the text-to-motion skill from exploiting shortcut pathways instead of learning language semantics, we introduce motion intuition distillation to ground text-to-motion generation in language semantics and a task-guidance module that dynamically adjusts actions based on high-level language instructions. This enables HetSkills to preserve natural motion while continuously expanding its skill repertoire, making it highly adaptable for long-horizon tasks. Experimental results demonstrate the effectiveness in motion tracking, text-to-motion generation, motion completion, and downstream task adaptation, achieving impressive success rates even under challenging conditions.