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simmediumhumanoidmetric · varies
Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control
Description
Humanoid Whole-Body Controllers trained with reinforcement learning (RL) have recently achieved remarkable performance, yet many target a single robot embodiment. Variations in dynamics, degrees of freedom (DoFs), and kinematic topology still hinder a single policy from commanding diverse humanoids. Moreover, obtaining a generalist policy that not only transfers across embodiments but also supports richer behaviors-beyond simple walking to squatting, leaning-remains especially challenging. In th