{"id":"https://openalex.org/W7133935209","doi":"https://doi.org/10.48550/arxiv.2603.03733","title":"X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation","display_name":"X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation","publication_year":2026,"publication_date":"2026-03-04","ids":{"openalex":"https://openalex.org/W7133935209","doi":"https://doi.org/10.48550/arxiv.2603.03733"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.03733","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125009792","display_name":"Dewei Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Wang, Dewei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128171861","display_name":"Xinmiao Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xinmiao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110494989","display_name":"Chenyun Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Chenyun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128181429","display_name":"Jiyuan Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Jiyuan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128213057","display_name":"Yingnan Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Yingnan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Bai, Chenjia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bai, Chenjia","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128175870","display_name":"Xuelong Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xuelong","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5125009792"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.5936999917030334,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.5936999917030334,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.09669999778270721,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.06270000338554382,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6791999936103821},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5936999917030334},{"id":"https://openalex.org/keywords/oracle","display_name":"Oracle","score":0.5839999914169312},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45559999346733093},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4489000141620636},{"id":"https://openalex.org/keywords/train","display_name":"Train","score":0.39899998903274536},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.3497999906539917},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.32670000195503235}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6791999936103821},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.65829998254776},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5936999917030334},{"id":"https://openalex.org/C55166926","wikidata":"https://www.wikidata.org/wiki/Q2892946","display_name":"Oracle","level":2,"score":0.5839999914169312},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45559999346733093},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4489000141620636},{"id":"https://openalex.org/C190839683","wikidata":"https://www.wikidata.org/wiki/Q2448197","display_name":"Train","level":2,"score":0.39899998903274536},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39419999718666077},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3646000027656555},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.3497999906539917},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3352000117301941},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.32670000195503235},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.31859999895095825},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.2973000109195709},{"id":"https://openalex.org/C2780735816","wikidata":"https://www.wikidata.org/wiki/Q28324931","display_name":"Incremental learning","level":2,"score":0.29589998722076416},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.2939999997615814},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.28130000829696655},{"id":"https://openalex.org/C107418235","wikidata":"https://www.wikidata.org/wiki/Q1520565","display_name":"Human multitasking","level":2,"score":0.27880001068115234},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.27399998903274536},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2603999972343445},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25459998846054077}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.03733","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.03733","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.03733","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.03733","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"While":[0],"recent":[1],"advances":[2],"have":[3],"demonstrated":[4,156],"strong":[5],"performance":[6],"in":[7],"individual":[8],"humanoid":[9,54,125],"skills":[10,28],"such":[11,159],"as":[12,160],"upright":[13,130],"locomotion,":[14,131],"fall":[15,102,135,161],"recovery":[16,103,162],"and":[17,36,63,107,134,163,177],"whole-body":[18,108,132],"coordination,":[19],"learning":[20,179],"a":[21,47,51,65,70,83,94],"single":[22],"policy":[23,67],"that":[24,127,151,170],"masters":[25],"all":[26],"these":[27],"remains":[29],"challenging":[30],"due":[31],"to":[32,81,92,104,122],"the":[33,90,112,119],"diverse":[34],"dynamics":[35],"conflicting":[37],"control":[38],"objectives":[39],"involved.":[40],"To":[41,111],"address":[42],"this,":[43],"we":[44],"introduce":[45],"X-Loco,":[46],"framework":[48,121,172],"for":[49],"training":[50],"vision-based":[52,84,124],"generalist":[53],"locomotion":[55,98,126],"policy.":[56,86],"X-Loco":[57,117,152],"trains":[58],"multiple":[59,78],"oracle":[60],"specialist":[61,72,79,175],"policies":[62,80],"adopts":[64],"synergetic":[66],"distillation":[68],"with":[69],"case-adaptive":[71],"selection":[73],"mechanism,":[74],"which":[75],"dynamically":[76],"leverages":[77,174],"guide":[82],"student":[85,91],"This":[87],"design":[88],"enables":[89],"acquire":[93],"broad":[95],"spectrum":[96],"of":[97,114],"skills,":[99],"ranging":[100],"from":[101],"terrain":[105,164],"traversal":[106],"coordination":[109,133],"skills.":[110],"best":[113],"our":[115,171],"knowledge,":[116],"is":[118],"first":[120],"demonstrate":[123],"jointly":[128],"integrates":[129],"recovery,":[136],"while":[137],"operating":[138],"solely":[139],"under":[140],"velocity":[141],"commands":[142],"without":[143],"relying":[144],"on":[145],"reference":[146],"motions.":[147],"Experimental":[148],"results":[149],"show":[150],"achieves":[153],"superior":[154],"performance,":[155],"by":[157],"tasks":[158],"traversal.":[165],"Ablation":[166],"studies":[167],"further":[168],"highlight":[169],"effectively":[173],"expertise":[176],"enhances":[178],"efficiency.":[180]},"counts_by_year":[],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2026-03-06T00:00:00"}