Analysis
BeyondMimic's shared recipe trains per-motion policies, not one generalizable model
BeyondMimic compresses task-specific engineering into a standardized pipeline rather than eliminating it. The framework trains separate policies for each motion—aerial cartwheels, spin kicks, flip kicks, sprinting—under shared hyperparameters. The authors explicitly state they "do not claim that a single policy generalizes to unseen motions," despite headlines suggesting general humanoid control.
