The question
How can reusable motion knowledge become calibrated, task-directed behavior on a specific humanoid?
The approach
Verify the encoder–quantizer–decoder contract, canonicalize joint ordering and reference frames, and condition a latent prior on proprioceptive state. Explore supervised adapter initialization and parameter-efficient reinforcement-learning refinement.
Validation focus
- Decoded actions correspond to the intended joints and coordinate frames.
- Actuator limits, scaling, and observation histories agree across the pipeline.
- Task adaptation remains close to a valid pretrained motion distribution.
Current boundary
This is an ongoing integration workstream. Public benchmark results, physical deployment demonstrations, and performance claims are not presented here.