Model-Informed Safe Reinforcement Learning for Bipedal Locomotion via Step-to-Step Prediction

arXiv:2609.34486 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Terminology

• Reinforcement Learning — 10× in this paper · explained in 4 episodes
• APEX — 5× in this paper · explained in 1 episode
• Robustness — 5× in this paper · explained in 5 episodes
• Reinforcement Learning (RL) — 3× in this paper · explained in 25 episodes
• Action Space — 2× in this paper · explained in 1 episode
• Adaptability — 2× in this paper · explained in 1 episode
• Reward Function — 2× in this paper · explained in 2 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Activation Function — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• American Control Conference — 1× in this paper
• Angular-Momentum Linear Inverted Pendulum — 1× in this paper
• Center of Mass — 1× in this paper
• Center of Mass (CoM) — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Hybrid System — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Interpretability — 1× in this paper · explained in 15 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Structured Reasoning — 1× in this paper · explained in 3 episodes

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