Learning Asynchronous Upper-body Task-space Trajectory Tracking Policy for Humanoid Robots

arXiv:2606.25706 · cs.RO · Submitted 2026-06-24 · Read on arXiv

cs.RO

Submitted: 2026-06-24

Updated: 2026-10-16

Comments: 10 pages, 8 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Adaptation — 1× in this paper · explained in 1 episode
• Distillation — 1× in this paper · explained in 2 episodes
• Planner — 1× in this paper · explained in 3 episodes
• Student Policy — 1× in this paper · explained in 2 episodes
• Teacher-Student Distillation — 1× in this paper · explained in 2 episodes

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