robotics
An Earth-Trained Humanoid Stumbles on the Moon
Simulations expose asymmetric transfer across gravity, terrain and soil—and show one randomized policy that remained broadly stable.
Summary
Simulations expose asymmetric transfer across gravity, terrain and soil—and show one randomized policy that remained broadly stable.
On a simulated Unitree G1, Earth-trained policies retained 0.64 to 0.75 survival on flat rigid lunar ground, while Moon-trained policies could not stand when moved back to Earth. A released generalist controller reached at most 0.10 survival on the Moon. Rough-terrain training helped, and one policy randomized across gravity on resistive-force terrain achieved at least 0.84 mean survival at Earth gravity and 0.96 at lunar gravity across key tests. Every lunar result depends on simulation, contact assumptions and modeled soil stiffness.
Why it matters
Simulations expose asymmetric transfer across gravity, terrain and soil—and show one randomized policy that remained broadly stable.
Limits and context
- On a simulated Unitree G1, Earth-trained policies retained 0.64 to 0.75 survival on flat rigid lunar ground, while Moon-trained policies could not stand when moved back to Earth.
Key claims
Simulations expose asymmetric transfer across gravity, terrain and soil—and show one randomized policy that remained broadly stable.
Qualification: On a simulated Unitree G1, Earth-trained policies retained 0.64 to 0.75 survival on flat rigid lunar ground, while Moon-trained policies could not stand when moved back to Earth.
Evidence: source-2026-10-22-010
Sources
- arXiv preprint 2610.30080, original v1arXiv · primary research
Corrections
No corrections have been recorded for this story.