[Submitted on 18 Sep 2026]
Title:HumanoidTTT: Test-Time Capability Reuse for Efficient Humanoid Control
View a PDF of the paper titled HumanoidTTT: Test-Time Capability Reuse for Efficient Humanoid Control, by Jingtai Yang and 4 other authors
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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. 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. To address these challenges, we present HumanoidTTT, a framework for test-time capability reuse in continual humanoid control. Specifically, we introduce Selective Full-Motion Reuse, which authorizes direct reuse of validated complete motions only from certified applicable entry states, allowing accepted reuse to bypass fresh generation. We further introduce Test-Time Capability Consolidation, which adapts which qualified capabilities persist in a bounded Full-Motion Store using subsequent deployment reuse as feedback. 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. Overall, HumanoidTTT enables reliable and efficient reuse of validated motion capabilities while adaptively retaining useful capabilities throughout continual deployment. Code: this https URL. Website: this https URL.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2610.00198 [cs.RO]
(or arXiv:2610.00198v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2610.00198
arXiv-issued DOI via DataCite
Submission history
From: Zeyu Zhang [view email] [v1] Fri, 18 Sep 2026 21:44:30 UTC (6,720 KB)
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