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

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/d45pcz0jh81ml48yru9fu373a
- Original: https://arxiv.org/abs/2610.36507

## Summary

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.