Humanoid-GPT Distills RL Experts Into Transformer For Zero-Shot Control

Humanoid-GPT treats humanoid control like foundation model training. The team scaled from curated motion datasets to a 2B-frame corpus, clustered motions with a Harmonic Motion Embedding, trained hundreds of RL motion experts, then distilled them into a single Transformer tracker. The result is a zero-shot humanoid controller that tracks diverse human motions without finetuning.