FADA: 2-Minute Humanoid Dynamics Adaptation
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Loading videoFADA separates planning from inverse dynamics, freezes the planner and fine-tunes only the IDM with about two minutes of target rollouts to adapt humanoid control to terrain, payload and actuator shifts.
Category: humanoid
Author: @AngchenXie
Date: 2026-07-01T00:00:00
Duration: 95.706s
Reference: https://arxiv.org/abs/2606.28476
