Author

Xiu-Ze Xia

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Preprint Sep 2026

CHOREO: Every Humanoid Skill as a Trajectory

CHOREO, a framework for training-free composition of heterogeneous humanoid skills, demonstrates that executable trajectories provide a scalable interface for accumulating and composing pretrained humanoid capabilities.

Zi-Yi Sun, Jing-Wen Chen, Yu-Xin Wang et al. · 1 citation