InterEvolve: Test-Time Evolution of Reward Programs for Humanoid Loco-Manipulation

arXiv:2610.02196 · cs.RO, cs.CV, cs.GR · Submitted 2026-10-01 · Read on arXiv

cs.RO, cs.CV, cs.GR

Submitted: 2026-10-01

Updated: 2026-10-04

Comments: Project page: https://sirui-xu.github.io/InterEvolve

Project page: https://sirui-xu.github.io/InterEvolve

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

Terminology

• Verifier — 21× in this paper · explained in 2 episodes
• Foundation Model — 15× in this paper · explained in 3 episodes
• Ablation — 10× in this paper · explained in 1 episode
• Reinforcement Learning — 10× in this paper · explained in 4 episodes
• Actor — 9× in this paper · explained in 3 episodes
• Foundation Models — 8× in this paper · explained in 7 episodes
• Calibration — 6× in this paper · explained in 7 episodes
• Adaptation — 5× in this paper · explained in 1 episode
• Aggregation — 4× in this paper · explained in 1 episode
• Trace — 4× in this paper · explained in 2 episodes
• Benchmark — 3× in this paper · explained in 2 episodes
• Test-time Scaling — 3× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Reward Function — 2× in this paper · explained in 2 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Agentic Framework — 1× in this paper · explained in 6 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Large Language Model (LLM) — 1× in this paper · explained in 3 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Reward Shaping — 1× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Verification — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• Exploration and Online Transfer with Behavioral Foundation Models
• Large Language Monkeys: Scaling Inference Compute with Repeated Sampling
• TEXEDO : Test Time Scaling for Controller-aware Language-conditioned Humanoid Motion Generation
• Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors
• GMT: General Motion Tracking for Humanoid Whole-Body Control
• Humanoid-VLA: Towards Universal Humanoid Control with Visual Integration
• RHO: Your Coding Agent is Secretly a Roboticist
• DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning
• ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation
• ExBody2: Advanced Expressive Humanoid Whole-Body Control
• DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusion
• RDA: Reward Design Agent for Reinforcement Learning
• Learning to Learn Faster from Human Feedback with Language Model Predictive Control
• ASPIRE: Agentic /Skills Discovery for Robotics
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
• AlphaEvolve: A coding agent for scientific and algorithmic discovery
• Cybo-Waiter: A Physical Agentic Framework for Humanoid Whole-Body Locomotion-Manipulation
• Optimistic Task Inference for Behavior Foundation Models
• RGB: RL Guided Whole-Body MPPI for Humanoid Control
• Fast Adaptation with Behavioral Foundation Models

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