{"id":"https://openalex.org/W7127642633","doi":"https://doi.org/10.48550/arxiv.2602.02960","title":"Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control","display_name":"Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control","publication_year":2026,"publication_date":"2026-02-03","ids":{"openalex":"https://openalex.org/W7127642633","doi":"https://doi.org/10.48550/arxiv.2602.02960"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.02960","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114188130","display_name":"Quanquan Peng","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Peng, Quanquan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123610537","display_name":"Yunfeng Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Yunfeng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101586414","display_name":"Yufei Xue","orcid":"https://orcid.org/0009-0008-4167-8244"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xue, Yufei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125024046","display_name":"Jiangmiao Pang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pang, Jiangmiao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5125019330","display_name":"Weinan Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Weinan","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5114188130"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.8471999764442444,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.8471999764442444,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.032600000500679016,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.022199999541044235,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7053999900817871},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.705299973487854},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5663999915122986},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.510699987411499},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.41019999980926514},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.40470001101493835},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4000999927520752},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.39309999346733093}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7053999900817871},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.705299973487854},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5663999915122986},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5573999881744385},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.510699987411499},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44679999351501465},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.421999990940094},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.41019999980926514},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.40470001101493835},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4000999927520752},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.39309999346733093},{"id":"https://openalex.org/C45371612","wikidata":"https://www.wikidata.org/wiki/Q3058587","display_name":"Generalist and specialist species","level":3,"score":0.37279999256134033},{"id":"https://openalex.org/C204030448","wikidata":"https://www.wikidata.org/wiki/Q101017","display_name":"Distillation","level":2,"score":0.362199991941452},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.34779998660087585},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.33090001344680786},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3190999925136566},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.3118000030517578},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29269999265670776},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2669999897480011},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2587999999523163},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2587999999523163}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.02960","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.02960","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.02960","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.02960","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8118928074836731,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Humanoid":[0],"Whole-Body":[1,133],"Controllers":[2],"trained":[3],"with":[4],"reinforcement":[5],"learning":[6],"(RL)":[7],"have":[8],"recently":[9],"achieved":[10],"remarkable":[11],"performance,":[12],"yet":[13],"many":[14],"target":[15],"a":[16,32,41,79,131,175],"single":[17,33,80],"robot":[18],"embodiment.":[19],"Variations":[20],"in":[21,153,157],"dynamics,":[22],"degrees":[23],"of":[24],"freedom":[25],"(DoFs),":[26],"and":[27,108,143,155,168],"kinematic":[28],"topology":[29],"still":[30],"hinder":[31],"policy":[34,43,82],"from":[35,99],"commanding":[36],"diverse":[37],"humanoids.":[38],"Moreover,":[39],"obtaining":[40],"generalist":[42,116],"that":[44,77,83],"not":[45],"only":[46],"transfers":[47],"across":[48],"embodiments":[49],"but":[50],"also":[51],"supports":[52],"richer":[53],"behaviors-beyond":[54],"simple":[55],"walking":[56],"to":[57,171],"squatting,":[58],"leaning-remains":[59],"especially":[60],"challenging.":[61],"In":[62],"this":[63,125],"work,":[64],"we":[65],"tackle":[66],"these":[67],"obstacles":[68],"by":[69,117],"introducing":[70],"EAGLE,":[71],"an":[72],"iterative":[73],"generalist-specialist":[74],"distillation":[75],"framework":[76],"produces":[78,130],"unified":[81],"controls":[84],"multiple":[85],"heterogeneous":[86],"humanoids":[87],"without":[88],"per-robot":[89],"reward":[90],"tuning.":[91],"During":[92],"each":[93],"cycle,":[94],"embodiment-specific":[95],"specialists":[96],"are":[97,111],"forked":[98],"the":[100,115,120],"current":[101],"generalist,":[102],"refined":[103],"on":[104,119,136,149],"their":[105],"respective":[106],"robots,":[107],"new":[109],"skills":[110],"distilled":[112],"back":[113],"into":[114],"training":[118],"pooled":[121],"embodiment":[122],"set.":[123],"Repeating":[124],"loop":[126],"until":[127],"performance":[128],"convergence":[129],"robust":[132],"Controller":[134],"validated":[135],"robots":[137,152],"such":[138],"as":[139],"Unitree":[140],"H1,":[141],"G1,":[142],"Fourier":[144],"N1.":[145],"We":[146],"conducted":[147],"experiments":[148],"five":[150],"different":[151],"simulation":[154],"four":[156],"real-world":[158],"settings.":[159],"Through":[160],"quantitative":[161],"evaluations,":[162],"EAGLE":[163],"achieves":[164],"high":[165],"tracking":[166],"accuracy":[167],"robustness":[169],"compared":[170],"other":[172],"methods,":[173],"marking":[174],"step":[176],"toward":[177],"scalable,":[178],"fleet-level":[179],"humanoid":[180],"control.":[181],"See":[182],"more":[183],"details":[184],"at":[185],"https://eagle-wbc.github.io/":[186]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-02-06T00:00:00"}