Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data

[Website] [Arxiv]

Yixuan Pan^1*, Ruoyi Qiao^4*, Li Chen¹, Kashyap Chitta², Liang Pan¹, Haoguang Mai¹, Qingwen Bu¹, Cunyuan Zheng⁴, Hao Zhao³, Ping Luo¹, Hongyang Li¹

*Equal Contribution

¹The University of Hong Kong, ²NVIDIA, ³Tsinghua University, ⁴Individual Contributor

                     

News

• Est. Feb 2026. Code will be released. Please stay tuned.

Citation

@article{pan2025ams,
  title={Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data},
  author={Pan, Yixuan and Qiao, Ruoyi and Chen, Li and Chitta, Kashyap and Pan, Liang and Mai, Haoguang and Bu, Qingwen and Zheng, Cunyuan and Zhao, Hao and Luo, Ping and Li, Hongyang},
  journal={arXiv preprint arXiv:2511.17373},
  year={2025}
}

License

This project is licensed under the Apache License 2.0 - see the LICENSE file for details.