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20202025
most citedSim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition

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cs.RO2025

No More Marching: Learning Humanoid Locomotion for Short-Range SE(2) Targets

Pranay Dugar, Mohitvishnu S. Gadde, Jonah Siekmann +3

Humanoids operating in real-world workspaces must frequently execute task-driven, short-range movements to SE(2) target poses. To be practical, these transitions must be fast, robu…