TRACE: Efficient Transfer Learning for Neural Whole-Body Control Across Humanoid Embodiments

arXiv:2610.17999 · cs.RO · Submitted 2026-10-13 · Read on arXiv

cs.RO

Submitted: 2026-10-13

Updated: 2026-10-13

Terminology

• Trace — 1× in this paper · explained in 2 episodes
• Transfer Learning — 1× in this paper · explained in 10 episodes

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies