Article

Can Earth-trained humanoid controllers walk on the Moon? A study of gravity, terrain, and soil transfer

The study trained 12 policies with the same recipe on a simulated Unitree G1, varying gravity, terrain geometry, and ground contact models (rigid or 3D resistive force theory, 3D RFT), and tested Earth-to-Moon fine-tuning and gravity randomization.

Part of the event: Simulation study: transfer performance of Earth-trained humanoid controllers under lunar gravity

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