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20232026
most citedAdaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds

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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…