HumanoidTTT

HumanoidTTT:
Test-Time Capability Reuse for Efficient Humanoid Control

Jingtai Yang* Yining Wu* Yanjun Li* Zeyu Zhang*† Hao Tang‡
School of Computer Science, Peking University
* Equal contribution.   † Project lead.   ‡ Corresponding author.

Method Overview

HumanoidTTT overview comparing fresh motion generation with entry-applicable reuse, end-to-end latency, and consolidation in a bounded motion store. View full-size figure ↗

HumanoidTTT: reusable full-motion capabilities for continual humanoid deployment.

For recurring requests, Entry Applicability enables direct reuse of qualified full motions when the current state satisfies their entry certificates, bypassing fresh generation.

Test-Time Capability Consolidation uses deployment feedback to adapt the contents of a bounded Full-Motion Store.

The lower-left panel compares mean end-to-end latency on the evaluated recurrent request trace.

HumanoidTTT workflow connecting Entry Applicability, the Full-Motion Store, the Frozen Motion Generator, Execution-Based Qualification, and online capability consolidation. View full-size figure ↗

HumanoidTTT.

Entry Applicability controls direct reuse of Validated Full-Motion Capabilities. A miss invokes the Frozen Motion Generator followed by Execution-Based Qualification.

When a Qualified Capability reaches a full Store, a Store-conditioned Double-DQN chooses SKIP or replacement of an existing entry and adapts online from subsequent deployment reuse utility.

Two consolidation actions at a full Store: SKIP retains all existing capabilities; REPLACE j admits the arrival and evicts capability j. View full-size figure ↗

Consolidation at a qualified full-Store miss.

(a) SKIP retains the current Store without admitting the arrival.

(b) REPLACE(j) admits the new capability and evicts entry j.

The Double-DQN scorer selects an action using Store-conditioned features.

MuJoCo Simulation

01

Walk → Turn → Walk

G1 rollout
02

Walk → Squat → Walk

G1 rollout
03

Walk → Single Wave → Walk

G1 rollout
04

Turn → Walk → Turn

G1 rollout
05

Turn → Squat → Turn

G1 rollout
06

Turn → Single Wave → Turn

G1 rollout
07

Squat → Walk → Squat

G1 rollout
08

Squat → Turn → Squat

G1 rollout
09

Squat → Single Wave → Squat

G1 rollout
10

Single Wave → Walk → Single Wave

G1 rollout
11

Single Wave → Turn → Single Wave

G1 rollout
12

Single Wave → Squat → Single Wave

G1 rollout

Real World

01

Walk forward, then make a smooth turn, then walk forward.

Real-world rollout
02

Walk forward, then squat fully and stand up, then walk forward.

Real-world rollout
03

Walk forward, then raise one hand overhead and wave once, then walk forward.

Real-world rollout
04

Make a smooth turn, then walk forward, then make a smooth turn.

Real-world rollout
05

Make a smooth turn, then squat fully and stand up, then make a smooth turn.

Real-world rollout
06

Make a smooth turn, then raise one hand overhead and wave once, then make a smooth turn.

Real-world rollout
07

Squat fully and stand up, then walk forward, then squat fully and stand up.

Real-world rollout
08

Squat fully and stand up, then make a smooth turn, then squat fully and stand up.

Real-world rollout
09

Squat fully and stand up, then raise one hand overhead and wave once, then squat fully and stand up.

Real-world rollout
10

Raise one hand overhead and wave once, then walk forward, then raise one hand overhead and wave once.

Real-world rollout
11

Raise one hand overhead and wave once, then make a smooth turn, then raise one hand overhead and wave once.

Real-world rollout
12

Raise one hand overhead and wave once, then squat fully and stand up, then raise one hand overhead and wave once.

Real-world rollout