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EPO: Policy Orchestration at Control Rate

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EPO learns a differentiable energy for every frozen whole-body policy, then selects and refines the most feasible policy-goal pair at control rate, improving precision-robustness with far fewer switches.

HumanoidWhole-Body ControlPolicy OrchestrationRobot LearningEnergy-Based ModelsUnitree G1CoRL 2026MIT
Category: humanoid
Author: @Weirui_Ye
Date: 2026-11-08T00:00:00
Duration: 51.1s
Source: https://x.com/Weirui_Ye/status/2119286570133922248
Reference: https://arxiv.org/abs/2611.02546

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