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This work presents R2S-EGO, which couples a simulator-derived robot proxy that represents the behavior-scoped executable query domain with a capture-anchored geometry proxy that supplies scene-specific structural conditions.
Results show a unified System-2 agent enables adaptive humanoid service across simulation and reality.
Athena-WBC is proposed, a compact teacher-student pipeline with capability-aligned policy experts for long-tail humanoid whole-body control that shows improved recovery of training-set long-tail motions and better held-out tracking than a strong SONIC-recipe baseline, using only a small number of experts.
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