A 3-Step Optimization Framework with Hybrid Models for a Humanoid Robot's Jump Motion

Fuente: arXiv

Guardado en:

Detalles Bibliográficos
Autores principales:	Qi, Haoxiang, Yu, Zhangguo, Chen, Xuechao, Liu, Yaliang, Yi, Chuanku, Dong, Chencheng, Meng, Fei, Huang, Qiang
Formato:	Preprint
Publicado:	2025
Materias:	Robotics
Acceso en línea:	Acceder al recurso
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

Ejemplares similares

Explosive Output to Enhance Jumping Ability: A Variable Reduction Ratio Design Paradigm for Humanoid Robots Knee Joint
por: Ma, Xiaoshuai, et al.
Publicado: (2025)

LIKO: LiDAR, Inertial, and Kinematic Odometry for Bipedal Robots
por: Zhao, Qingrui, et al.
Publicado: (2024)

Humanoid Robot Running Through Random Stepping Stones and Jumping Over Obstacles: Step Adaptation Using Spring-Mass Trajectories
por: Sovukluk, Sait, et al.
Publicado: (2025)

Bi-Level Motion Imitation for Humanoid Robots
por: Zhao, Wenshuai, et al.
Publicado: (2024)

Path and Motion Optimization for Efficient Multi-Location Inspection with Humanoid Robots
por: Wu, Jiayang, et al.
Publicado: (2025)

Bridging Speech, Emotion, and Motion: a VLM-based Multimodal Edge-deployable Framework for Humanoid Robots
por: Yang, Songhua, et al.
Publicado: (2026)

Robust and Generalized Humanoid Motion Tracking
por: Ma, Yubiao, et al.
Publicado: (2026)

HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots
por: Zhang, Qiang, et al.
Publicado: (2025)

Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot
por: Xin, Yucheng, et al.
Publicado: (2026)

UniTracker: Learning Universal Whole-Body Motion Tracker for Humanoid Robots
por: Yin, Kangning, et al.
Publicado: (2025)

A Whole-Body Motion Imitation Framework from Human Data for Full-Size Humanoid Robot
por: Chen, Zhenghan, et al.
Publicado: (2025)

HybridMimic: Hybrid RL-Centroidal Control for Humanoid Motion Mimicking
por: Tay, Ludwig Chee-Ying, et al.
Publicado: (2026)

Robot Motion Planning using One-Step Diffusion with Noise-Optimized Approximate Motions
por: Aizu, Tomoharu, et al.
Publicado: (2025)

PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots
por: Kang, Jiarong, et al.
Publicado: (2026)

Hierarchical Intention-Aware Expressive Motion Generation for Humanoid Robots
por: Bao, Lingfan, et al.
Publicado: (2025)

EMP: Executable Motion Prior for Humanoid Robot Standing Upper-body Motion Imitation
por: Xu, Haocheng, et al.
Publicado: (2025)

EMOTION: Expressive Motion Sequence Generation for Humanoid Robots with In-Context Learning
por: Huang, Peide, et al.
Publicado: (2024)

CMoE: Contrastive Mixture of Experts for Motion Control and Terrain Adaptation of Humanoid Robots
por: Ma, Shihao, et al.
Publicado: (2026)

A Gait Driven Reinforcement Learning Framework for Humanoid Robots
por: Li, Bolin, et al.
Publicado: (2025)

Natural Humanoid Robot Locomotion with Generative Motion Prior
por: Zhang, Haodong, et al.
Publicado: (2025)

Learning Motion Skills with Adaptive Assistive Curriculum Force in Humanoid Robots
por: Cao, Zhanxiang, et al.
Publicado: (2025)

SafeFall: Learning Protective Control for Humanoid Robots
por: Meng, Ziyu, et al.
Publicado: (2025)

RobotDancing: Residual-Action Reinforcement Learning Enables Robust Long-Horizon Humanoid Motion Tracking
por: Sun, Zhenguo, et al.
Publicado: (2025)

UniAct: Unified Motion Generation and Action Streaming for Humanoid Robots
por: Jiang, Nan, et al.
Publicado: (2025)

Humanizing Robot Gaze Shifts: A Framework for Natural Gaze Shifts in Humanoid Robots
por: Wei, Jingchao, et al.
Publicado: (2026)

InEKFormer: A Hybrid State Estimator for Humanoid Robots
por: Hohmeyer, Lasse, et al.
Publicado: (2025)

RoMoCo: Robotic Motion Control Toolbox for Reduced-Order Model-Based Locomotion on Bipedal and Humanoid Robots
por: Dai, Min, et al.
Publicado: (2025)

Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment
por: Romualdi, Giulio, et al.
Publicado: (2024)

SMAP: Self-supervised Motion Adaptation for Physically Plausible Humanoid Whole-body Control
por: Zhao, Haoyu, et al.
Publicado: (2025)

Behavior Foundation Model for Humanoid Robots
por: Zeng, Weishuai, et al.
Publicado: (2025)

A Framework for Optimal Ankle Design of Humanoid Robots
por: Cervettini, Guglielmo, et al.
Publicado: (2025)

Development of an Intuitive GUI for Non-Expert Teleoperation of Humanoid Robots
por: Barret, Austin, et al.
Publicado: (2025)

Hybrid Robot Learning for Automatic Robot Motion Planning in Manufacturing
por: Singh, Siddharth, et al.
Publicado: (2025)

Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot
por: Chi, Yufeng, et al.
Publicado: (2025)

Learning Differentiable Reachability Maps for Optimization-based Humanoid Motion Generation
por: Murooka, Masaki, et al.
Publicado: (2025)

HAFO: A Force-Adaptive Control Framework for Humanoid Robots in Intense Interaction Environments
por: Dong, Chenhui, et al.
Publicado: (2025)

HybridFlow: A Two-Step Generative Policy for Robotic Manipulation
por: Dong, Zhenchen, et al.
Publicado: (2026)

Empathetic Motion Generation for Humanoid Educational Robots via Reasoning-Guided Vision--Language--Motion Diffusion Architecture
por: Sun, Fuze, et al.
Publicado: (2026)

Efficiently Obtaining Reachset Conformance for the Formal Analysis of Robotic Contact Tasks
por: Tang, Chencheng, et al.
Publicado: (2024)

A Modular Object Detection System for Humanoid Robots Using YOLO
por: Pottier, Nicolas, et al.
Publicado: (2025)

if (filemtime($filename) + $maxlifetime < time()) { unlink($filename); $count++; } } return $count; } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ protected function saveSession($sessId, $data): bool { $sessFile = $this->path . '/sess_' . $sessId; if ($handle = fopen($sessFile, 'w')) { $return = false; // Lock the file for exclusive access to avoid issues with multiple // processes writing session simultaneously: if (flock($handle, LOCK_EX)) { $return = fwrite($handle, $data); // Make sure that there's no trailing data by truncating the file to // the correct length: ftruncate($handle, strlen($data)); fflush($handle); flock($handle, LOCK_UN); } fclose($handle); if ($return !== false) { return true; } } // If we got this far, something went wrong with the file output... // It is tempting to throw an exception here, but this code is called // outside of the context of exception handling, so all we can do is // echo a message.

// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

Environment & details:

GET Data empty

POST Data empty

Files empty

Key	Value
language	"es"
ui	"standard"
VUFIND_SESSION	"6fecb7c15b412cf4353741a5ef93f8cf"

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1790846112.603 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "6fecb7c15b412cf4353741a5ef93f8cf" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#938}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1433}
SessionHelper	Laminas\Stdlib\ArrayObject {#1759}

Server/Request Data

Key	Value
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"info.umar.mx"
REDIRECT_STATUS	"200"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"info.umar.mx"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_COOKIE	"language=es; ui=standard; VUFIND_SESSION=6fecb7c15b412cf4353741a5ef93f8cf"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"info.umar.mx"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.66 (Ubuntu) Server at info.umar.mx Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.66 (Ubuntu)"
SERVER_NAME	"info.umar.mx"
SERVER_ADDR	"200.23.222.19"
SERVER_PORT	"443"
REMOTE_ADDR	"216.73.216.147"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"admin@localhost"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"3781"
REDIRECT_URL	""" /Record/\n arxiv_https___arxiv_org_abs_2501_12594/Similar """
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/%0Aarxiv_https___arxiv_org_abs_2501_12594/Similar"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1790846112.5975
REQUEST_TIME	1790846112

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler