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simmediumhumanoidmetric · varies
General Humanoid Whole-Body Control via Pretraining and Fast Adaptation
Description
Learning a general whole-body controller for humanoid robots remains challenging due to the diversity of motion distributions, the difficulty of fast adaptation, and the need for robust balance in high-dynamic scenarios. Existing approaches often require task-specific training or suffer from performance degradation when adapting to new motions. In this paper, we present FAST, a general humanoid whole-body control framework that enables Fast Adaptation and Stable Motion Tracking. FAST introduces