3 papers
cs.RO2026
X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation
Dewei Wang, Xinmiao Wang, Chenyun Zhang +4
While recent advances have demonstrated strong performance in individual humanoid skills such as upright locomotion, fall recovery and whole-body coordination, learning a single po…
cs.RO2026
Towards Adaptive Humanoid Control via Multi-Behavior Distillation and Reinforced Fine-Tuning
Yingnan Zhao, Xinmiao Wang, Dewei Wang +5
Humanoid robots are promising to learn a diverse set of human-like locomotion behaviors, including standing up, walking, running, and jumping. However, existing methods predominant…
cs.RO2025
MoRE: Mixture of Residual Experts for Humanoid Lifelike Gaits Learning on Complex Terrains
Dewei Wang, Xinmiao Wang, Xinzhe Liu +4
Humanoid robots have demonstrated robust locomotion capabilities using Reinforcement Learning (RL)-based approaches. Further, to obtain human-like behaviors, existing methods integ…