Thor: Towards Human-Inspired Whole-Body Reactions for Intense Contact-Rich Environments

arXiv:2510.26280 · cs.RO · Submitted 2025-10-30 · Read on arXiv

cs.RO

Submitted: 2025-10-30

Updated: 2026-09-21

Project page: https://baai-aether.github.io/baai-thor

Terminology

Actor — 10× in this paper · explained in 3 episodes
Reward Function — 7× in this paper · explained in 2 episodes
Reinforcement Learning — 5× in this paper · explained in 4 episodes
Adaptive Response — 3× in this paper · explained in 1 episode
IEEE International Conference on Robotics and Automation — 3× in this paper
Robustness — 3× in this paper · explained in 5 episodes
Sim-to-Real Gap — 3× in this paper · explained in 6 episodes
Ablation — 2× in this paper · explained in 1 episode
Center of Mass (CoM) — 2× in this paper · explained in 2 episodes
Generalizability — 2× in this paper · explained in 6 episodes
Ablation Studies — 1× in this paper · explained in 1 episode
Adaptation — 1× in this paper · explained in 1 episode
Consistency — 1× in this paper · explained in 3 episodes
Decoupling — 1× in this paper · explained in 2 episodes
Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
Distillation — 1× in this paper · explained in 2 episodes
Markov Decision Process (MDP) — 1× in this paper · explained in 11 episodes
Objective Function — 1× in this paper · explained in 2 episodes
Regularization — 1× in this paper · explained in 3 episodes
Zero Moment Point — 1× in this paper

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