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

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/kb9ixohug24a65kfyetghdqcj
- Original: https://arxiv.org/abs/2610.30080

## Summary

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.