MARCH: Model-Assisted Reinforcement Learning for the Perceptive Control of Humanoids over Sparse Footholds

arXiv:2606.10288 · cs.RO · Submitted 2026-06-09 · Read on arXiv

cs.RO

Submitted: 2026-06-09

Updated: 2026-10-13

Terminology

• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Lyapunov function — 1× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes

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