OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control

Abstract
High-fidelity motion tracking serves as the ultimate litmus test for generalizable, human-level motor skills. However, current policies often hit a “generality barrier”: as motion libraries scale in diversity, tracking fidelity inevitably collapse especially for real-world deployment of high-dynamic motions. We identify this failure as the result of two compounding factors: the learning bottleneck in scaling multi-motion optimization and the physical executability constraints that arise in real world actuation. To overcome these, we introduce OMNIXTREME, a scalable framework that decouples general motor skill learning from sim-to-real physical skill refinement. Our approach uses a flow-matching policy with high-capacity architectures to scale representation capacity without the interference-intensive multimotion RL optimization, followed by an actuation-aware refinement phase that ensures robust performance on physical hardware. Extensive experiments demonstrate that OMNIXTREME maintains high-fidelity tracking across diverse, high-difficulty datasets. On real robots, the unified policy successfully executes multiple extreme motions, effectively breaking the long-standing fidelity–scalability trade-off in high-dynamic humanoid control.
Authors
Yunshen Wang* , Shaohang Zhu* , Peiyuan Zhi , Yuhan Li , Jiaxin Li , Yong-Lu Li , Yuchen Xiao , Xingxing Wang , Baoxiong Jia✉ , Siyuan Huang✉
Publication Year
2026
http://eng.bigai.ai/wp-content/uploads/sites/7/2026/09/RSS2026_OmniXtreme_Breaking_the_G.pdf
Publication Venue
RSS
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