3 papers
cs.RO2026
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. Unlike prior methods that typically rely on domain…
cs.RO2026
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…
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…