arxivcs.RO2026-06-26
FADA: Few-Shot Domain Adaptation via Dynamics Alignment for Humanoid Control
Angchen Xie, Nikhil Sobanbabu, Ishayu Shikhare, Alan Wang, Max Simchowitz, Guanya Shi
High-precision humanoid control is limited by target-domain dynamics mismatch, where the same control objective can induce different realized motions under changes in terrain, payload, or actuator response. Existing methods either pursue zero-shot transfer through domain randomiz…