75 citations · 110 across the 13 of their papers we have counts for
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cs.RO2026
Reactive Humanoid Multi-Contact Using Learned Stability Models
Stephen McCrory, Beomyeong Park, Nicholas Kitchel +2
We present a planning and control approach to reactively use hand contacts to stabilize a humanoid in low stability scenarios, where only using feet contacts may result in a fall.…
cs.RO2026
Embedding Classical Balance Control Principles in Reinforcement Learning for Humanoid Recovery
Nehar Poddar, Stephen McCrory, Luigi Penco +3
Humanoid robots remain vulnerable to falls and unrecoverable failure states, limiting their practical utility in unstructured environments. While reinforcement learning has demonst…