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cs.RO2026
Model-Informed Safe Reinforcement Learning for Bipedal Locomotion via Step-to-Step Prediction
Victor Paredes, Ayonga Hereid
Humanoid robots promise versatile mobility in cluttered, human-centric environments, but real deployment demands principled safety. Classical model-based gait generators yield inte…
cs.RO2026
Perceptive Variable-Timing Footstep Planning for Humanoid Locomotion on Disconnected Footholds
Zhaoyang Xiang, Upama Pant, Ayonga Hereid
Walking over disconnected footholds requires selecting landing regions while adapting step timing to the robot's motion. We present a perceptive model predictive planner that combi…