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cs.RO2025
Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotion
Jaeyong Shin, Woohyun Cha, Donghyeon Kim +2
Reinforcement learning (RL) has shown great potential in training agile and adaptable controllers for legged robots, enabling them to learn complex locomotion behaviors directly fr…
cs.RO2025
Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection
Junhyeok Rui Cha, Woohyun Cha, Jaeyong Shin +2
This paper proposes a novel alternative to existing sim-to-real methods for training control policies with simulated experiences. Prior sim-to-real methods for legged robots mostly…