#GEAR-SONIC (2)

Cross-Embodiment Transfer of a Frozen Humanoid Whole-Body Controller via Analytic Codec and LoRA Adapters

Frozen GEAR-SONIC whole-body controller (Unitree G1) transfers to AgiBot X2 Ultra via closed-form codec + LoRA adapters (0.25% params, 2% compute), beating native training on OOD (69.0% vs 59.0%).

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