HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation

arXiv:2604.07993 · cs.RO · Submitted 2026-04-09 · Read on arXiv

cs.RO

Submitted: 2026-04-09

Updated: 2026-10-22

Terminology

• Generalization — 1× in this paper · explained in 13 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 5 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