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One for All: Generalist Foundation Model for Cross-Sensor Skeleton Representation Learning

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

For learning generalizable motion representations from large-scale unlabeled data, Self-supervised learning (SSL) has become a widely adopted methodology. However, existing approaches are primarily limited by the inherent heterogeneity of skeleton data---characterized by varying joint counts, indexing protocols, and topological structures across different sensors---which typically necessitates training separate, sensor-specific, or even entirely dataset-specific models. To overcome this, we introduce SOfA (Skeleton One for All), the first generalist foundation model designed to achieve sensor-

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