# BRIDGE: An Open-Source Humanoid Platform via Morphology-Control Co-Design for Physical AI

arXiv: https://arxiv.org/abs/2609.03497 · HTML: https://mlsanity.com/paper/2609.03497/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 34 of its 51 references that are in the map.
- First posted on arXiv 3 Sep 2026.

## Builds on (most cited first, 30 of 34)

- [RMA: Rapid Motor Adaptation for Legged Robots](https://mlsanity.com/paper/2107.04034/) (2021)
- [HumanPlus: Humanoid Shadowing and Imitation from Humans](https://mlsanity.com/paper/2406.10454/) (2024)
- [EgoMimic: Scaling Imitation Learning via Egocentric Video](https://mlsanity.com/paper/2410.24221/) (2024)
- [BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion](https://mlsanity.com/paper/2508.08241/) (2025)
- [Extreme Parkour with Legged Robots](https://mlsanity.com/paper/2309.14341/) (2023)
- [Robot Parkour Learning](https://mlsanity.com/paper/2309.05665/) (2023)
- [Universal Humanoid Motion Representations for Physics-Based Control](https://mlsanity.com/paper/2310.04582/) (2023)
- [MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpainting](https://mlsanity.com/paper/2409.14393/) (2024)
- [TWIST: Teleoperated Whole-Body Imitation System](https://mlsanity.com/paper/2505.02833/) (2025)
- [SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control](https://mlsanity.com/paper/2511.07820/) (2025)
- [GMT: General Motion Tracking for Humanoid Whole-Body Control](https://mlsanity.com/paper/2506.14770/) (2025)
- [Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking](https://mlsanity.com/paper/2510.02252/) (2025)
- [Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning](https://mlsanity.com/paper/2501.02116/) (2025)
- [Zero-Shot Whole-Body Humanoid Control via Behavioral Foundation Models](https://mlsanity.com/paper/2504.11054/) (2025)
- [Jointly Learning to Construct and Control Agents using Deep Reinforcement Learning](https://mlsanity.com/paper/1801.01432/) (2018)
- [TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System](https://mlsanity.com/paper/2511.02832/) (2025)
- [Emergence of Human to Robot Transfer in Vision-Language-Action Models](https://mlsanity.com/paper/2512.22414/) (2025)
- [Attention-Based Map Encoding for Learning Generalized Legged Locomotion](https://mlsanity.com/paper/2506.09588/) (2025)
- [CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks](https://mlsanity.com/paper/2506.08931/) (2025)
- [BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning](https://mlsanity.com/paper/2511.04131/) (2025)
- [Neural Graph Evolution: Towards Efficient Automatic Robot Design](https://mlsanity.com/paper/1906.05370/) (2019)
- [Hardware as Policy: Mechanical and Computational Co-Optimization using Deep Reinforcement Learning](https://mlsanity.com/paper/2008.04460/) (2020)
- [DiffuseBot: Breeding Soft Robots With Physics-Augmented Generative Diffusion Models](https://mlsanity.com/paper/2311.17053/) (2023)
- [Multi-Objective Graph Heuristic Search for Terrestrial Robot Design](https://mlsanity.com/paper/2107.05858/) (2021)
- [GLSO: Grammar-guided Latent Space Optimization for Sample-efficient Robot Design Automation](https://mlsanity.com/paper/2209.11748/) (2022)
- [From Universal Humanoid Control to Automatic Physically Valid Character Creation](https://mlsanity.com/paper/2206.09286/) (2022)
- [Functional Co-Optimization of Articulated Robots](https://mlsanity.com/paper/1707.06617/) (2017)
- [ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control](https://mlsanity.com/paper/2602.00401/) (2026)
- [ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation](https://mlsanity.com/paper/2502.00893/) (2025)
- [BodyGen: Advancing Towards Efficient Embodiment Co-Design](https://mlsanity.com/paper/2503.00533/) (2025)

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

- [Co-design Gym: A Unified Benchmark for Embodiment-Policy Co-optimization](https://mlsanity.com/paper/2610.02366/) (2026)

## Abstract (arXiv)

Developing humanoid robots capable of leveraging human behavioral data is essential for general-purpose embodiment, yet conventional development remains bottlenecked by a decoupled paradigm that isolates hardware design from whole-body control. This approach leads to suboptimal systems that compromise human-like fluidity and agility. To bridge this gap, we introduce a data-driven morphology-control co-design framework that optimizes humanoid morphology for human-like movement. To quantify morphological fidelity, we also introduce a novel metric that jointly considers kinematic retargeting fidelity to human motion and dynamic tracking performance. Our framework achieves state-of-the-art (SOTA) performance across all metrics compared to baseline humanoids (Bumi, K1, and Toddlerbot). Finally, we realize this design in Bridge, an open-source, 88cm-tall humanoid platform released alongside its control policy. We demonstrate that Bridge captures human motion data with superior fidelity, exhibiting exceptional performance across foundational locomotion, robust balance, and highly dynamic maneuvers. Videos and open-source materials: https://sites.google.com/view/bridgerobot.