Whole-Body Control for Cross-Humanoid Locomotion on 12 Humanoid Robots (unseen)
100Survival Rate (%)HugWBC (Specialists)
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| HugWBC (Specialists)Policy Architecture=Specialist, Evaluation Protocol=Trained and evaluated on specific robots separately, Performance Bound=Upper-bound2026.02 | 100 | 0.06 | 0.079 | 0.121 | 0.044 | 0.138 | 0.062 | 0.037 | |
| XHugWBCPolicy Architecture=Generalist, Evaluation Protocol=Zero-shot generalization across robots2026.02 | 100 | 0.084 | 0.116 | 0.16 | 0.044 | 0.097 | 0.043 | 0.052 |