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arXiv · 2606.28237

Unleashing Infinite Motion: Scaling Expressive Quadrupedal Motion via Generative Video Priors

Youzhi Liu·Li Gao·Yifei Qian·Liu Liu·Yang Cai·Wenbin Tang
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Abstract

Quadruped robots have achieved remarkable locomotion, yet their behavioral repertoire remains confined to a few gaits--far from the expressive, companion-like presence long envisioned for them. Attempts to import the humanoid recipe of large-scale motion data have inherited one tacit assumption: that robot motion must first pass through an animal body, making data collection dependent on cooperative animals, reconstruction fragile across species, and retargeting ill-posed across incompatible morphologies. We propose Uni-Mo, a fully automated pipeline that removes the animal from the loop by reframing data scarcity as a generation problem: an LLM proposes motion prompts, a video diffusion model synthesizes the corresponding robot behaviors, and the generated videos are lifted into 3D reference trajectories used to train tracking policies deployed on a real Unitree Go2. To make naively-drifting generations reliably extractable, we introduce an Identity Consistency Loss that enforces appearance coherence across frames. We release Quad-Imaginarium at https://github.com/Amap-Robotics/Quad-Imaginarium, the resulting open-source dataset of 7,488 language-annotated quadruped motions (18.5 hours) spanning acrobatic and performative behaviors. We validate 392 randomly sampled motions on a real Unitree Go2 with a 96.7% deployment success rate, complemented by a 97.6% success rate across the full dataset in simulation.

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Youzhi Liu, Li Gao, Yifei Qian, Liu Liu, Yang Cai, Wenbin Tang. 2026-09-09. Unleashing Infinite Motion: Scaling Expressive Quadrupedal Motion via Generative Video Priors. https://arxiv.org/abs/2606.28237

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