@article{athenawbccapabilityalignedpolicyexpertsf,
  title = {Athena-WBC: Capability-Aligned Policy Experts for Long-Tail Humanoid Whole-Body Control},
  author = {Yuan Jiang and Ningyuan Zhang and Xicun Yang and Shidi Li and Yuzhi Jiang and Zhiyi Rong and Shuaikang Ma and Chuanzheng Li and Jie Chen},
  year = {2026},
  eprint = {2607.04837},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2607.04837},
}