A lightweight RL framework trains terrain-agnostic 3D foothold-tracking policies for humanoids that transfer directly to real-world use as standalone low-level controllers.
Traversing narrow paths: A two-stage reinforcement learning framework for robust and safe humanoid walking.arXiv preprint arXiv:2508.20661, 2025
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Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Tracking
A lightweight RL framework trains terrain-agnostic 3D foothold-tracking policies for humanoids that transfer directly to real-world use as standalone low-level controllers.