SOURCE-LINKED INTELLIGENCE
CHOREO: Every Humanoid Skill as a Trajectory
Recent advances in humanoid robotics have produced diverse skills through reinforcement learning, motion imitation, and generative modeling. Yet these capabilities remain siloed because they are built around incompatible representations, interfaces, and controllers. We present CHOREO, a framework for training-free composition of heterogeneous humanoid skills. Our key observation is that, regardless of how a skill is learned, it can ultimately be expressed as an executable motion trajectory. Based on this observation, CHOREO converts each capability into SkillMotion, a unified representation th
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-11T06:39:17.000Z
First collected: 2026-09-24T21:02:27.607Z. This is not the publication date.