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

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/fn6u8eqqcklg5w85gprgc2n0t
- Original: https://arxiv.org/abs/2609.15213

## Summary

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.

## Why it matters

The paper proposes a cross-embodiment humanoid whole-body control framework that decouples shared human motion semantics from each embodiment's execution, and validates joint training on nine simulated embodiments and four real robots.