UniSkill: Imitating Human Videos via Cross-Embodiment Skill
  Representations
Authors: name: Hanjung Kim; name: Jaehyun Kang; name: Hyolim Kang; name: Meedeum Cho; name: Seon Joo Kim; name: Youngwoon Lee
Published: 2025-05-13 17:59:22

Abstract: Mimicry is a fundamental learning mechanism in humans, enabling individuals
to learn new tasks by observing and imitating experts. However, applying this
ability to robots presents significant challenges due to the inherent
differences between human and robot embodiments in both their visual appearance
and physical capabilities. While previous methods bridge this gap using
cross-embodiment datasets with shared scenes and tasks, collecting such aligned
data between humans and robots at scale is not trivial. In this paper, we
propose UniSkill, a novel framework that learns embodiment-agnostic skill
representations from large-scale cross-embodiment video data without any
labels, enabling skills extracted from human video prompts to effectively
transfer to robot policies trained only on robot data. Our experiments in both
simulation and real-world environments show that our cross-embodiment skills
successfully guide robots in selecting appropriate actions, even with unseen
video prompts. The project website can be found at:
https://kimhanjung.github.io/UniSkill.