Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data. - Yixuan Pan; Ruoyi Qiao; Li Chen 008; Kashyap Chitta; Liang Pan; Haoguang Mai; Qingwen Bu; Hao Zhao 002; Cunyuan Zheng; Ping Luo 002; Hongyang Li 001 (CoRR, 2025)