Yuan Jiang

Athena-WBC: Capability-Aligned Policy Experts for Long-Tail Humanoid Whole-Body Control

Yuan Jiang, Ningyuan Zhang, Xicun Yang, Yuzhi Jiang, Jie Chen

Large-scale humanoid motion-tracking controllers are commonly improved by reallocating training effort: difficult motions are sampled more often, isolated into smaller subsets, or assigned to specialized experts. We show that this view is incomplete. In strong whole-body-control…Read more