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

HANDOFF is a new humanoid whole-body controller designed for real-world deployment, utilizing a compact and modular command space interface for loco-manipulation tasks. The model employs a mixture-of-experts approach, distilled from three specialists using KL distillation, achieving state-of-the-art velocity tracking and a substantial manipulation workspace on the Unitree G1. This development is significant for practitioners as it simplifies the integration of natural language task planning with robust physical control, enabling versatile and adaptive robotic applications without the need for extensive fine-tuning.