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simmediumlocomotionmetric · varies
H-Zero: Cross-Humanoid Locomotion Pretraining Enables Few-shot Novel Embodiment Transfer
Description
The rapid advancement of humanoid robotics has intensified the need for robust and adaptable controllers to enable stable and efficient locomotion across diverse platforms. However, developing such controllers remains a significant challenge because existing solutions are tailored to specific robot designs, requiring extensive tuning of reward functions, physical parameters, and training hyperparameters for each embodiment. To address this challenge, we introduce H-Zero, a cross-humanoid locomot