Physics-Guided Residual Reinforcement Learning for Humanoid Narrow-Path Traversal
cs.RO
Submitted: 2025-08-28
Updated: 2026-09-24
Terminology
Sources
- BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds
- Integrating Model-Based Footstep Planning with Model-Free Reinforcement Learning for Dynamic Legged Locomotion
- Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking
- Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control
- Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
- Residual Policy Learning
- ALLSTEPS: Curriculum-driven Learning of Stepping Stone Skills
- Elevation Mapping for Locomotion and Navigation using GPU
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