HEX introduces a state-centric framework with humanoid-aligned representations and mixture-of-experts proprioceptive prediction for coordinated whole-body control on bipedal humanoids.
Embodiment-aware generalist specialist distillation for unified humanoid whole-body control
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HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation
HEX introduces a state-centric framework with humanoid-aligned representations and mixture-of-experts proprioceptive prediction for coordinated whole-body control on bipedal humanoids.