{"id":"https://openalex.org/W7137988790","doi":"https://doi.org/10.48550/arxiv.2603.15546","title":"Kimodo: Scaling Controllable Human Motion Generation","display_name":"Kimodo: Scaling Controllable Human Motion Generation","publication_year":2026,"publication_date":"2026-03-16","ids":{"openalex":"https://openalex.org/W7137988790","doi":"https://doi.org/10.48550/arxiv.2603.15546"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.15546","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.15546","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.15546","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078529189","display_name":"Davis Rempe","orcid":"https://orcid.org/0000-0003-2256-5507"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Rempe, Davis","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091623941","display_name":"Mathis Petrovich","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Petrovich, Mathis","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129664055","display_name":"Ye Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Ye","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129748198","display_name":"Haotian Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Haotian","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129716527","display_name":"Xue Bin Peng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peng, Xue Bin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104231272","display_name":"Yifeng Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Yifeng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091475385","display_name":"Tingwu Wang","orcid":"https://orcid.org/0000-0003-2006-0660"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Tingwu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129709688","display_name":"Umar Iqbal","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Iqbal, Umar","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085818581","display_name":"David Minor","orcid":"https://orcid.org/0000-0001-7082-6340"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Minor, David","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074277585","display_name":"Mick de Ruyter","orcid":"https://orcid.org/0000-0002-1616-5825"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"de Ruyter, Michael","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129720429","display_name":"Jiefeng Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Jiefeng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002549620","display_name":"Chen Tessler","orcid":"https://orcid.org/0000-0001-6447-9864"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tessler, Chen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129712922","display_name":"Edy Lim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lim, Edy","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129647132","display_name":"Eugene Jeong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jeong, Eugene","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129663485","display_name":"Sam Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Sam","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129711727","display_name":"Ehsan Hassani","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hassani, Ehsan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129653598","display_name":"Michael Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Michael","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129656474","display_name":"Jin-Bey Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Jin-Bey","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030128483","display_name":"Chaeyeon Chung","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chung, Chaeyeon","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103269254","display_name":"Lina Song","orcid":"https://orcid.org/0000-0002-0458-6024"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Lina","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129666188","display_name":"Olivier Dionne","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dionne, Olivier","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129716835","display_name":"Jan Kautz","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kautz, Jan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102970625","display_name":"Simon Yuen","orcid":"https://orcid.org/0009-0002-9715-3558"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuen, Simon","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5070642269","display_name":"Sanja Fidler","orcid":"https://orcid.org/0000-0003-1040-3260"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fidler, Sanja","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":24,"corresponding_author_ids":["https://openalex.org/A5078529189"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9775000214576721,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9775000214576721,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.006899999920278788,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.0032999999821186066,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7939000129699707},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.7491999864578247},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6973999738693237},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5802000164985657},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5710999965667725},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4968999922275543},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.4659999907016754},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.459199994802475},{"id":"https://openalex.org/keywords/human-motion","display_name":"Human motion","score":0.4302000105381012}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7939000129699707},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.7491999864578247},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6973999738693237},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6942999958992004},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5934000015258789},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5802000164985657},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5710999965667725},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5613999962806702},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4968999922275543},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.4659999907016754},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.459199994802475},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.4302000105381012},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.42890000343322754},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4251999855041504},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.38929998874664307},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3377000093460083},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.3183000087738037},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.2754000127315521},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.27250000834465027},{"id":"https://openalex.org/C2781089380","wikidata":"https://www.wikidata.org/wiki/Q5936753","display_name":"Human-body model","level":2,"score":0.27090001106262207},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.2687000036239624},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.26330000162124634},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.25619998574256897},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2531000077724457}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.15546","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.15546","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.15546","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.15546","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"High-quality":[0],"human":[1,24],"motion":[2,25,49,69,78,118,132],"data":[3,21],"is":[4,112],"becoming":[5],"increasingly":[6],"important":[7],"for":[8,136],"applications":[9],"in":[10],"robotics,":[11],"simulation,":[12],"and":[13,53,66,92,107,120,127,150,158],"entertainment.":[14],"Recent":[15],"generative":[16],"models":[17],"offer":[18],"a":[19,93,115],"potential":[20],"source,":[22],"enabling":[23],"synthesis":[26],"through":[27,90,114],"intuitive":[28],"inputs":[29],"like":[30],"text":[31,91],"prompts":[32],"or":[33],"kinematic":[34,68,97],"constraints":[35,98],"on":[36,73,141],"poses.":[37],"However,":[38],"the":[39,48,142,153],"small":[40],"scale":[41],"of":[42,55,76,96,155],"public":[43],"mocap":[44,144],"datasets":[45],"has":[46],"limited":[47],"quality,":[50],"control":[51],"accuracy,":[52],"generalization":[54],"these":[56],"models.":[57],"In":[58],"this":[59],"work,":[60],"we":[61],"introduce":[62],"Kimodo,":[63],"an":[64],"expressive":[65],"controllable":[67],"diffusion":[70],"model":[71,82,159],"trained":[72],"700":[74],"hours":[75],"optical":[77],"capture":[79],"data.":[80],"Our":[81],"generates":[83],"high-quality":[84],"motions":[85],"while":[86,134],"being":[87],"easily":[88],"controlled":[89],"comprehensive":[94],"suite":[95],"including":[99],"full-body":[100],"keyframes,":[101],"sparse":[102],"joint":[103],"positions/rotations,":[104],"2D":[105,109],"waypoints,":[106],"dense":[108],"paths.":[110],"This":[111],"enabled":[113],"carefully":[116],"designed":[117],"representation":[119],"two-stage":[121],"denoiser":[122],"architecture":[123],"that":[124],"decomposes":[125],"root":[126],"body":[128],"prediction":[129],"to":[130],"minimize":[131],"artifacts":[133],"allowing":[135],"flexible":[137],"constraint":[138],"conditioning.":[139],"Experiments":[140],"large-scale":[143],"dataset":[145,156],"justify":[146],"key":[147],"design":[148],"decisions":[149],"analyze":[151],"how":[152],"scaling":[154],"size":[157,160],"affect":[161],"performance.":[162]},"counts_by_year":[],"updated_date":"2026-03-18T06:31:55.123368","created_date":"2026-03-18T00:00:00"}
