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arXiv · 2609.12342

UniMo: Unifying Human and Animal Motion Generation

Zeyu Zhang·Zhiyuan Zhang·Siheng Wang·Yiran Wang·Danning Li·Ian Reid·Richard Hartley
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Abstract

The conditional generation of 3D motion has emerged as a key research topic due to its wide applicability across robotics, AR/VR, gaming, and content creation. However, extending recent advances in text-driven human motion generation to the animal domain remains challenging due to two core limitations. First, animals exhibit highly diverse skeletal topologies, unlike the standard human structure, making unified modeling across species difficult and leading to inefficient per-species models. Second, existing animal motion datasets suffer from limited scale and annotation quality, constraining model performance. To address these challenges, we propose UniMo, a unified point cloud-based motion generation framework that bypasses topological discrepancies by converting parametric skeletons into unparametric representations, further enhanced by dynamic sampling that allocates more points to active joints. Additionally, we present UniML3D, a large-scale motion-language dataset spanning both human and animal categories, containing 145,907 motion sequences and 433,388 captions-over 102x larger than existing animal datasets. Our method achieves state-of-the-art results on UniML3D and three public benchmarks including HumanML3D, KIT-ML, and AnimalML3D, demonstrating the feasibility and effectiveness of unified human-animal motion generation. Website: https://steve-zeyu-zhang.github.io/UniMo.

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Zeyu Zhang, Zhiyuan Zhang, Siheng Wang, Yiran Wang, Danning Li, Ian Reid, Richard Hartley. 2026-09-11. UniMo: Unifying Human and Animal Motion Generation. https://arxiv.org/abs/2609.12342

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