Athena-WBC: Capability-Aligned Policy Experts for Long-Tail Humanoid Whole-Body Control
Athena-WBC：用于长尾人形机器人全身控制的能力对齐策略专家
机构 * XPENG ROBOTICS（XPENG机器人）
AI总结 研究发现仅靠重新分配训练精力改进人形运动跟踪控制器不完整。提出Athena-WBC，含能力对齐策略专家，动态专家用特定目标，平衡专家用重力课程，经蒸馏和微调，提升长尾运动恢复及跟踪性能。
Comments Withdrawn by the authors due to unresolved authorization and data-governance concerns affecting the dataset used in the experiments and, consequently, the reported results. Readers should not rely on this work while these issues are under review
