Smoothness as a Constraint for Stable Humanoid Locomotion
cs.RO
Submitted: 2026-09-21
Updated: 2026-09-21
Project page: https://panchalutsav.github.io/decap
Terminology
Sources
- Humanoid Robots at work: where are we ?
- FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation
- BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
- Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotion
- HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit
- Chasing Stability: Humanoid Running via Control Lyapunov Function Guided Reinforcement Learning
- SoftMimic: Learning Compliant Whole-body Control from Examples
- Learning Humanoid Locomotion over Challenging Terrain
- SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning
- ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walking
- Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
- Proximal Policy Optimization Algorithms
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