SOURCE-LINKED INTELLIGENCE

X-WBC: A Cross-Embodiment Foundation Model for Humanoid Whole-Body Control

arXiv · AI, language, vision and robotics · article · Sep 14, 2026 · UTC

Scaling humanoid whole-body control toward general-purpose deployment requires large human motion corpora and training experience shared across robot bodies. Existing methods usually train one policy per robot, leaving motion experience isolated across embodiments. We introduce X-WBC, a cross-embodiment foundation framework that separates relatively shared human motion semantics from embodiment-specific physical execution. Human-centered command tokens align full human motion, robot reference motion, and sparse VR observations. A causal Transformer learns reusable temporal structure from mixed

Read original source ↗ Open in workspace

recordType

paper

region

Global