adaptive control 1gait generation 1humanoid locomotion 1reinforcement learning 1sim-to-real transfer 1
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cs.RO2026
GaitSpan: Growing Humanoid Locomotion from Walking to Running
Kwan-Yee Lin, Zilin Wang, Janelle J. Liu +1
The paper introduces GaitSpan, a framework that expands a pretrained walking policy into a single command‑conditioned humanoid controller capable of walking, jogging, and running a…
cs.RO2025
Unified Humanoid Fall-Safety Policy from a Few Demonstrations
Zhengjie Xu, Ye Li, Kwan-yee Lin +1
Falling is an inherent risk of humanoid mobility. Maintaining stability is thus a primary safety focus in robot control and learning, yet no existing approach fully averts loss of…
cs.RO2025
Let Humanoids Hike! Integrative Skill Development on Complex Trails
Kwan-Yee Lin, Stella X. Yu
Hiking on complex trails demands balance, agility, and adaptive decision-making over unpredictable terrain. Current humanoid research remains fragmented and inadequate for hiking:…