Athena-WBC: Capability-Aligned Policy Experts for Long-Tail Humanoid Whole-Body Control
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Source: arXiv cs.ROPublish time unverified
arXiv:2607.04837v3 Announce Type: replace Abstract: 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.