arxivcs.RO2026-07-22
Extreme-RGMT: Continual Learning of Highly Dynamic Skills for Robust Generalist Humanoid Control
Yubiao Ma, Han Yu, Kai Guo, Changtai Lv, Zhengquan Mao, Boyang Xing, et al.
Humans can progressively acquire highly dynamic motor skills while preserving reliable everyday motor abilities. In contrast, existing humanoid controllers face a trade-off between generalist and specialist capabilities: generalist motion tracking policies struggle to reliably ex…