HumanoidTTT: Test-Time Capability Reuse for Efficient Humanoid Control

What happened

arXiv:2610.00198v1 Announce Type: new Abstract: Recent advances in motion generation and whole-body tracking have enabled humanoid robots to execute increasingly diverse motions, yet the same motion capabilities may be requested repeatedly during continual deployment. Experiments demonstrate zero unsafe accepts and a 16.4$\times$ end-to-end speedup over fresh generation, while online consolidation improves avoided generator calls by 13.2 per 200 requests over its frozen counterpart.

Reliable reuse is challenging because intervening motions can change the robot's entry state, making previously successful motions unsafe to replay blindly. Meanwhile, validated capabilities accumulate during deployment, while bounded storage requires deciding which ones are worth retaining. Overall, HumanoidTTT enables reliable and efficient reuse of validated motion capabilities while adaptively retaining useful capabilities throughout continual deployment.

Key facts

• Meanwhile, validated capabilities accumulate during deployment, while bounded storage — requires: deciding which ones are worth retaining