Author

Tianqi Yu

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Preprint Aug 2026

LooperMuscle: Fast and Stable Learning of Humanoid Whole-Body Tracking via Structured Mixture-of-Experts

LooperMuscle is introduced, a composed expert policy learning framework that restores tracking quality while preserving high training efficiency, and substantially outperforms vanilla FastSAC in motion tracking accuracy while requiring far less wall-clock time than PPO.

Boyi Liu, Qijing Li, Tianqi Yu et al. · 0 citations