Author

Xicun Yang

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Preprint Jul 2026

Athena-WBC: Capability-Aligned Policy Experts for Long-Tail Humanoid Whole-Body Control

Athena-WBC is proposed, a compact teacher-student pipeline with capability-aligned policy experts for long-tail humanoid whole-body control that shows improved recovery of training-set long-tail motions and better held-out tracking than a strong SONIC-recipe baseline, using only a small number of experts.

Yuanchang Jiang, Ningyuan Zhang, Xicun Yang et al. · 1 citation