Humanoid whole-body controllers can now track a diverse set of dynamic motions, but they are typically trained offline and then frozen, so teaching such a controller a new skill tends to erode the skills it already mastered. We study continual learning for humanoid whole-body motion, where a single controller must acqu …
A robot demonstration records two things in the same frames: what happened to the objects, and how one particular arm made it happen. We condition on the first. A demonstration is compiled into an effect program: the 3D keypoint trajectories of the objects that moved, two points marking where each was held, and the con …
LLM-guided evolutionary search can discover complex programs, but existing methods mostly only save candidate programs and fitness scores while discarding which component edits produced which fitness metric changes. Existing methods force the mutator LLM to infer the effect of prior edits from cluttered histories, maki …