HumanX：从人类视频学习敏捷可泛化的人形机器人交互技能

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Abstract:Enabling humanoid robots to perform agile and adaptive interactions has long been a core challenge in robotics. Current approaches are bottlenecked by either the scarcity of realistic interaction data or the need for meticulous, task-specific reward engineering, which limits their scalability. To narrow this gap, we present HumanX, a unified framework that compiles human video into generalizable, real-world interaction skills for humanoids, without per-task design. HumanX integrates two co-designed components: XGen, an anchor-centric data generation pipeline that yields physically plausible robot interaction data from monocular video and augments it to create a diverse, scalable training dataset; and XMimic, an interaction-prioritized learning framework to achieve generalizable interaction skills from seconds of demonstration. Evaluated across five distinct domains--basketball, football, badminton, cargo pickup, and reactive fighting--HumanX successfully acquires 9 different skills and transfers them zero-shot to a physical Unitree G1 humanoid. The learned capabilities include complex maneuvers such as pump-fake turnaround fadeaway jumpshots without any external perception, as well as interactive tasks like sustained human-robot passing sequences over 10 consecutive cycles--learned from a single video demonstration. Our experiments show that HumanX achieves higher generalization success than prior methods, demonstrating a scalable pathway within a class of anchorable interactions for learning versatile, real-world robot interactive skills.

Submission history

From: Yinhuai Wang [view email]
[v1] Mon, 2 Feb 2026 18:53:01 UTC (24,530 KB)
[v2] Fri, 9 Oct 2026 04:03:02 UTC (24,355 KB)