LATIDIA · Robótica

X-WBC: A Cross-Embodiment Foundation Model for Humanoid Whole-Body Control

arXiv: 2609.15213v1Tipo de anuncio: nuevo Resumen: Escalar el control de todo el cuerpo humanoide hacia el despliegue de propósito general requiere grandes cuerpos de movimiento humano y experiencia de entrenamiento compartida entre los cuerpos de los robots. Métodos existentes

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arXiv:2609.15213v1 Announce Type: new Abstract: Scaling humanoid whole-body control toward general-purpose deployment requires large human motion corpora and training experience shared across robot bodies. Existing methods usually train one policy per robot, leaving motion experience isolated across embodiments. We introduce X-WBC, a cross-embodiment foundation framework that separates relatively shared human motion semantics from embodiment-specific physical execution. Human-centered command tokens align full human motion, robot reference motion, and sparse VR observations. A causal Transformer learns reusable temporal structure from mixed multi-robot rollouts, while lightweight robot-specific modules map the shared representation to each robot's proprioception and action space. Across nine simulated embodiments, external motions, and four real robots, experiments show that joint