HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers

arXiv·medium signal

HANDOFF addresses the choice of command space — the interface between task planning and whole-body control — for deploying humanoid robots in the real world, distilling complementary teacher policies into a unified controller. It frames the planning-to-control handoff as the key agentic interface for embodied systems. Signal for builders watching the convergence of LLM planning and physical robot control.