Preprint
Sep 2026
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 comp...
Zi-Yi Sun, Jing-Wen Chen, Yu-Xin Wang et al.
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