Article

GRAFT: Geometry-Aware Residual Adaptation for Frozen Humanoid Behavior Trackers

GRAFT proposes a geometry-aware residual adaptation framework that, without changing the parameters of a frozen humanoid behavior foundation model (BFM) or its motion-reference interface, uses a lightweight adapter to apply terrain-conditioned corrections only to lower-body execution targets. The adapter is trained with task and foot-geometry rewards, is regularized so it produces no unnecessary corrections on flat ground, and is distilled from privileged terrain observations to onboard depth.

Part of the event: GRAFT: Terrain Residual Adaptation of Frozen Behavior Trackers

This page provides a summary and source link only.