MorphMimic: one shared policy dances across Unitree G1, AgiBot X2 Ultra, Booster T2
ChongZzZhang · x · 2026-10-24
Caltech and Georgia Tech released MorphMimic, a morphology-conditioned world model and policy-sharing framework that lets Unitree G1, AgiBot X2 Ultra, and Booster T2 humanoids perform the same street shuffle with one shared policy.
Method
- Built on an independent reimplementation of SuperMimic, training a tracker by differentiating through short rollouts of a learned dynamics model
- A canonical layout maps each robot's joints by kinematic function to a common joint order and 14 tracked bodies
- A 125-value descriptor (actuation, geometry, mass) conditions shared networks; normalizers and reference motions stay robot-specific
- Shared motion encoder's 32-dim latent feeds a shared decoder, with morphology modulating features via FiLM
Results
- Compared four configurations (specialist / shared world model / shared policy / full unified), 40k iterations, 4096 envs per robot
- Validated on 128,786 shared clips in MuJoCo, deployed live on a Unitree G1, and runs interactively in the browser
Code and report are open-sourced.
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