General Humanoid Whole-Body Control via Pretraining and Fast Adaptation

• URL: http://arxiv.org/abs/2602.11929v1
• Date: Thu, 12 Feb 2026 13:26:22 GMT
• Title: General Humanoid Whole-Body Control via Pretraining and Fast Adaptation
• Abstract summary: We present FAST, a general humanoid whole-body control framework that enables Fast Adaptation and Stable Motion Tracking.<n>FAST introduces Parseval-Guided Residual Policy Adaptation and Center-of-Mass-Aware Control.<n>Experiments in simulation and real-world deployment demonstrate that FAST consistently outperforms state-of-the-art baselines in robustness, adaptation efficiency, and generalization.
• Score: 36.02965821695238
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Learning a general whole-body controller for humanoid robots remains challenging due to the diversity of motion distributions, the difficulty of fast adaptation, and the need for robust balance in high-dynamic scenarios. Existing approaches often require task-specific training or suffer from performance degradation when adapting to new motions. In this paper, we present FAST, a general humanoid whole-body control framework that enables Fast Adaptation and Stable Motion Tracking. FAST introduces Parseval-Guided Residual Policy Adaptation, which learns a lightweight delta action policy under orthogonality and KL constraints, enabling efficient adaptation to out-of-distribution motions while mitigating catastrophic forgetting. To further improve physical robustness, we propose Center-of-Mass-Aware Control, which incorporates CoM-related observations and objectives to enhance balance when tracking challenging reference motions. Extensive experiments in simulation and real-world deployment demonstrate that FAST consistently outperforms state-of-the-art baselines in robustness, adaptation efficiency, and generalization.

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