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

arXiv · AI, language, vision and robotics · article · Sep 3, 2026 · UTC

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 fide

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