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FADA: 2-Minute Humanoid Dynamics Adaptation

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FADA 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.

HumanoidDomain AdaptationInverse DynamicsSim-to-RealUnitreeBooster Robotics
Category: humanoid
Author: @AngchenXie
Date: 2026-07-01T00:00:00
Duration: 95.706s
Source: https://x.com/AngchenXie/status/2072359351893823974
Reference: https://arxiv.org/abs/2606.28476

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