Learning Slope-Adaptive Whole-Body Locomotion for Humanoid Robots in Roofing Construction

arXiv:2609.20558 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Project page: https://gmt-humanoid.github.io

Terminology

• Ablation — 16× in this paper · explained in 1 episode
• Actor — 10× in this paper · explained in 3 episodes
• Grounding — 10× in this paper · explained in 3 episodes
• Reinforcement Learning — 8× in this paper · explained in 4 episodes
• Adaptation — 7× in this paper · explained in 1 episode
• Fidelity — 6× in this paper · explained in 2 episodes
• Robustness — 6× in this paper · explained in 5 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• Accuracy — 3× in this paper · explained in 1 episode
• Alignment — 3× in this paper · explained in 1 episode
• Core — 3× in this paper · explained in 2 episodes
• Motion Primitives — 3× in this paper · explained in 2 episodes
• Regularization — 3× in this paper · explained in 3 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Failure Modes — 2× in this paper · explained in 3 episodes
• World Model — 2× in this paper · explained in 7 episodes
• Zero-Shot Transfer — 2× in this paper · explained in 4 episodes
• Artificial Intelligence (AI) — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Digital Twin — 1× in this paper · explained in 4 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Elias — 1× in this paper · explained in 2 episodes
• General Motion Retargeting — 1× in this paper
• Latent Representation — 1× in this paper · explained in 2 episodes
• Task Planning — 1× in this paper · explained in 2 episodes
• Temporal consistency — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Zero-Shot Generalization — 1× in this paper · explained in 5 episodes

Sources

• Learning Humanoid Locomotion over Challenging Terrain
• Deep Whole-body Parkour

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