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cs.RO2026
Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control
Quanquan Peng, Yunfeng Lin, Yufei Xue +2
Humanoid Whole-Body Controllers trained with reinforcement learning (RL) have recently achieved remarkable performance, yet many target a single robot embodiment. Variations in dyn…
cs.RO2026
Scalable and General Whole-Body Control for Cross-Humanoid Locomotion
Yufei Xue, YunFeng Lin, Wentao Dong +6
Learning-based whole-body controllers have become a key driver for humanoid robots, yet most existing approaches require robot-specific training. In this paper, we study the proble…
cs.RO2026
UniCon: A Unified System for Efficient Robot Learning Transfers
Yunfeng Lin, Li Xu, Yong Yu +2
Deploying learning-based controllers across heterogeneous robots is challenging due to platform differences, inconsistent interfaces, and inefficient middleware. To address these i…