3 papers
cs.RO2026
Multi-Gait Learning for Humanoid Robots Using Reinforcement Learning with Selective Adversarial Motion Prior
Yuanye Wu, Keyi Wang, Linqi Ye +1
Learning diverse locomotion skills for humanoid robots in a unified reinforcement learning framework remains challenging due to the conflicting requirements of stability and dynami…
cs.RO2026
Robust and Generalized Humanoid Motion Tracking
Yubiao Ma, Han Yu, Jiayin Xie +7
Learning a general humanoid whole-body controller is challenging because practical reference motions can exhibit noise and inconsistencies after being transferred to the robot doma…
cs.RO2025
STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner
Tianxing Zhou, Zhirui Wang, Haojia Ao +5
The ability to perform reliable long-horizon task planning is crucial for deploying robots in real-world environments. However, directly employing Large Language Models (LLMs) as a…