Jaeger: Dual-Level Humanoid Whole-Body Controller

[Website] [arXiv]

We present Jaeger, a dual-level whole-body controller for humanoid robots that addresses the challenges of training a more robust and versatile policy. Unlike traditional single-controller approaches, Jaeger separates the control of the upper and lower bodies into two independent controllers, so that they can better focus on their distinct tasks. Jaeger supports both root velocity tracking (coarse-grained control) and local joint angle tracking (fine-grained control), enabling versatile and stable movements. Real-robot videos can be found on our [Website].

Code

We will release our code soon.

Citation

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@article{ding2025jaeger,
  title={JAEGER: Dual-Level Humanoid Whole-Body Controller},
  author={Ding, Ziluo and Jiang, Haobin and Wang, Yuxuan and Sun, Zhenguo and Zhang, Yu and Niu, Xiaojie and Yang, Ming and Zeng, Weishuai and Xu, Xinrun and Lu, Zongqing},
  journal={arXiv preprint arXiv:2505.06584},
  year={2025}
}