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X-WBC: A Cross-Embodiment Foundation Model for Humanoid Whole-Body Control

X-WBC is a cross-embodiment humanoid whole-body control foundation framework that separates relatively shared human motion semantics from embodiment-specific physical execution. It uses human-centered command tokens to align full human motion, robot reference motion, and sparse VR observations; a causal Transformer learns reusable temporal structure from mixed multi-robot rollouts, and lightweight robot-specific modules map the shared representation to each robot's proprioception and action space.

Part of the event: X-WBC: A Cross-Embodiment Humanoid Whole-Body Control Foundation Model

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