A mosaic of humanoid robots interacting with boxes, chairs, luggage, tools, and other objects.

A data flywheel for humanoid loco-manipulation.

InterMimicGen

Scaling humanoid loco-manipulation through self-evolving motion imitation.

Yucheng Zhang1† Sirui Xu1†* Jinhong Li1† Liuyu Bian1† Anatulya Nandi1 Derek Zhang1 Xiangchen Liu1 Xueting Li2 Umar Iqbal2 Yu-Xiong Wang1‡ Liang-Yan Gui1‡

1University of Illinois Urbana-Champaign2NVIDIA†Equal Contribution*Project Lead‡Equal Advising

University of Illinois Urbana-ChampaignNVIDIA
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The idea

One human interaction can become many robot motions.

Edit like MimicGen, repair like InterMimic: every corrected motion becomes new data.

01 / Deployment

InterMimicGen
for physical robots.

02 / Retargeting

InterMimicGen
for resolving the embodiment gap.

02.1

Across objects

02.2

Across embodiments

02.3

Against baselines

03 / Tracking

InterMimicGen
for large-scale motion imitation.

03.1

Across objects

03.2

Across robot configurations

04 / Evolution

InterMimicGen
for self-evolution.

One motion, many realizations.