Zhao, Yingnan, Xinmiao Wang, Dewei Wang, Xinzhe Liu, Dan Lu, Qilong Han, Peng Liu, and Chenjia Bai. “Towards Adaptive Humanoid Control via Multi-Behavior Distillation and Reinforced Fine-Tuning”. Proceedings of the AAAI Conference on Artificial Intelligence 40, no. 22 (March 14, 2026): 18818–18826. Accessed May 15, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/38951.