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MorphMimic: One Morphology-Conditioned World Model and Policy Across Three Humanoids

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MorphMimic shares one morphology-conditioned world model and policy across Unitree G1, AgiBot X2 Ultra and Booster T2: the same dance runs in MuJoCo, in a browser demo and on G1 hardware.

World ModelsHumanoidSim-to-RealUnitreeMorphMimic
Category: humanoid
Author: @lzyang2000
Date: 2026-10-24T00:00:00
Duration: 60.0s
Source: https://x.com/lzyang2000/status/2114014980538614174
Reference: https://lzyang2000.github.io/morphmimic/

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