3 papers
cs.RO2026
Athena-WBC: Capability-Aligned Policy Experts for Long-Tail Humanoid Whole-Body Control
Yuan Jiang, Ningyuan Zhang, Xicun Yang +2
Large-scale humanoid motion-tracking controllers are commonly improved by reallocating training effort: difficult motions are sampled more often, isolated into smaller subsets, or…
cs.RO2026
Omnidirectional Humanoid Locomotion on Stairs via Unsafe Stepping Penalty and Sparse LiDAR Elevation Mapping
Yuzhi Jiang, Yujun Liang, Junhao Li +2
Humanoid robots, characterized by numerous degrees of freedom and a high center of gravity, are inherently unstable. Safe omnidirectional locomotion on stairs requires both omnidir…
cs.RO2026
A Gait Driven Reinforcement Learning Framework for Humanoid Robots
Bolin Li, Yuzhi Jiang, Linwei Sun +3
This paper presents a real-time gait driven training framework for humanoid robots. First, we introduce a novel gait planner that incorporates dynamics to design the desired joint…