DKWBC: A Humanoid Whole-Body Control Framework Decoupling Motion Tracking and Balancing

DKWBC proposes a dynamics-informed whole-body control framework that uses inverse-dynamics feedforward and joint PD feedback to supply tracking torques, while a residual policy learns the joint-torque corrections needed for balance. The authors state that this structure explicitly separates motion-related torque demands, simplifying the policy learning task, and that they validated in simulation and on real hardware that a single balancing policy can generalize across multiple motion datasets, maintaining tracking and balance under ground support, added payload, and physical interaction. The project homepage has been made public.