Banana Kick: Response-Informed Skill Evolution for Humanoid Soccer

arXiv:2609.27269 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Project page: https://haozhang-thu.github.io/bananakick

Terminology

• Adaptation — 16× in this paper · explained in 1 episode
• Reinforcement Learning — 10× in this paper · explained in 4 episodes
• Regret — 8× in this paper · explained in 3 episodes
• Actor — 6× in this paper · explained in 3 episodes
• Alignment — 4× in this paper · explained in 1 episode
• Bayesian Optimization — 4× in this paper · explained in 3 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Accuracy — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Reward Shaping — 3× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 3× in this paper · explained in 2 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Transfer Learning — 1× in this paper · explained in 10 episodes

Sources

• HALO: Learning Human-Robot Collaboration via Heterogeneous-Agent Lyapunov Policy Optimization
• Cognition to Control - Multi-Agent Learning for Human-Humanoid Collaborative Transport
• Interaction-Aware Whole-Body Control for Compliant Object Transport
• Proximal Policy Optimization Algorithms

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