TRACE: Efficient Transfer Learning for Neural Whole-Body Control Across Humanoid Embodiments

arXiv:2610.17999 · cs.RO · Submitted 2026-10-13 · Read on arXiv

cs.RO

Submitted: 2026-10-13

Updated: 2026-10-13

Project page: https://bfm-trace.github.io

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

Terminology

• Trace — 1× in this paper · explained in 2 episodes
• Transfer Learning — 1× in this paper · explained in 13 episodes

Sources

• H-Zero: Cross-Humanoid Locomotion Pretraining Enables Few-shot Novel Embodiment Transfer
• Scalable and General Whole-Body Control for Cross-Humanoid Locomotion
• Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control
• Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking
• HoloMotion-1 Technical Report
• Transformer Transformer: A Unified Model for Motion-Conditioned Robot Co-design
• Behavior Foundation Model for Humanoid Robots
• General Humanoid Whole-Body Control via Pretraining and Fast Adaptation
• ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
• Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Tracking
• PHUMA: Physically Reliable Humanoid Locomotion Dataset
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots

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