FADA (CoRL 2026) open-sourced: humanoid robots adapt to new conditions from 2 minutes of experience
GuanyaShi · x · 2026-09-12
- LeCAR-Lab's FADA, a few-shot domain adaptation framework for humanoid control, is accepted to CoRL 2026 and now open-sourced on GitHub.
- Adapts a trained policy to new real-world dynamics (heavy payload, soft floor, steep slope, unfamiliar terrain) using only 2 minutes of target-domain data.
- No rewards, no demonstrations, no motion capture, no simulator retuning — it keeps the task goal and changes only how the robot moves.
- Repo includes the full pipeline: oracle PPO training + Planner-IDM DAgger distillation, IDM LoRA finetuning, MuJoCo sim2sim deployment/data collection, and sim2real real-robot deployment.
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