SWIM: Single-Instance Whole-Body Imitation for swiMming

ArXi:2605.31120v1 Announce Type: cross We propose a new method for synthesizing physically-based swimming motions. Physically-based character animation aims to generate physically valid, controllable, and natural-looking motions which can respond to unexpected disturbances, where one dictating factor of difficulty is the complexity of the task, especially the level of sophistication of the required interactions with the environment. Existing research has succeeded in various tasks in static and dynamic environments.