LIMBO: Learning and Internalizing Model-Free Barrier Objectives for Agile and Safe Whole-Body Control
cs.RO
Submitted: 2026-09-18
Updated: 2026-09-18
Project page: https://limbo-safe.wbc.com
Terminology
Sources
- ExBody2: Advanced Expressive Humanoid Whole-Body Control
- CLF-RL: Control Lyapunov Function Guided Reinforcement Learning
- BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
- Synthesis and Deployment of Maximal Robust Control Barrier Functions through Adversarial Reinforcement Learning
- Kimodo: Scaling Controllable Human Motion Generation
- Proximal Policy Optimization Algorithms
- CBF-RL: Safety Filtering Reinforcement Learning in Training with Control Barrier Functions
- PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball
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