Copertina

Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning

Fuente: arXiv

Salvato in:

Dettagli Bibliografici
Autori principali:	Singh, Rohan P., Morisawa, Mitsuharu, Benallegue, Mehdi, Xie, Zhaoming, Kanehiro, Fumio
Natura:	Preprint
Pubblicazione:	2025
Soggetti:	Robotics
Accesso online:	Acceder al recurso
Tags:	Aggiungi Tag Nessun Tag, puoi essere il primo ad aggiungerne!!

Documenti analoghi

Centroidal Trajectory Generation and Stabilization based on Preview Control for Humanoid Multi-contact Motion
di: Murooka, Masaki, et al.
Pubblicazione: (2025)

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

Humanoid Loco-Manipulations Pattern Generation and Stabilization Control
di: Murooka, Masaki, et al.
Pubblicazione: (2025)

Humanoid Loco-manipulation Planning based on Graph Search and Reachability Maps
di: Murooka, Masaki, et al.
Pubblicazione: (2025)

Learning Bipedal Walking for Humanoid Robots in Challenging Environments with Obstacle Avoidance
di: Hamze, Marwan, et al.
Pubblicazione: (2024)

Whole-body Multi-contact Motion Control for Humanoid Robots Based on Distributed Tactile Sensors
di: Murooka, Masaki, et al.
Pubblicazione: (2025)

The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots
di: Demont, Arnaud, et al.
Pubblicazione: (2024)

ICP-Based Pallet Tracking for Unloading on Inclined Surfaces by Autonomous Forklifts
di: Kato, Takuro, et al.
Pubblicazione: (2026)

Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context
di: Benallegue, Mehdi, et al.
Pubblicazione: (2024)

TACT: Humanoid Whole-body Contact Manipulation through Deep Imitation Learning with Tactile Modality
di: Murooka, Masaki, et al.
Pubblicazione: (2025)

Reinforcement Learning for Ballbot Navigation in Uneven Terrain
di: Salehi, Achkan
Pubblicazione: (2025)

Neuromorphic Reinforcement Learning for Quadruped Locomotion Control on Uneven Terrain
di: Han, Zhuangyu, et al.
Pubblicazione: (2026)

Scalable, Training-Free Visual Language Robotics: A Modular Multi-Model Framework for Consumer-Grade GPUs
di: Samson, Marie, et al.
Pubblicazione: (2025)

RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains
di: Zhang, Yuanhang, et al.
Pubblicazione: (2026)

QP-Based Control of an Underactuated Aerial Manipulator under Constraints
di: Laribi, Nesserine, et al.
Pubblicazione: (2026)

Bi-level Trajectory Optimization on Uneven Terrains with Differentiable Wheel-Terrain Interaction Model
di: Manoharan, Amith, et al.
Pubblicazione: (2024)

Autonomous Mapless Navigation on Uneven Terrains
di: Jardali, Hassan, et al.
Pubblicazione: (2024)

Learning Perceptive Humanoid Locomotion over Challenging Terrain
di: Sun, Wandong, et al.
Pubblicazione: (2025)

A Terrain-Adaptive epsilon-Constraint MPC for Uneven Terrain Kinodynamic Planning
di: Jerome, Otobong, et al.
Pubblicazione: (2026)

NNPP: A Learning-Based Heuristic Model for Accelerating Optimal Path Planning on Uneven Terrain
di: Ji, Yiming, et al.
Pubblicazione: (2023)

Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learning
di: Xie, Weiji, et al.
Pubblicazione: (2025)

ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walking
di: Huang, Weidong, et al.
Pubblicazione: (2026)

Traversing Narrow Paths: A Two-Stage Reinforcement Learning Framework for Robust and Safe Humanoid Walking
di: Huang, TianChen, et al.
Pubblicazione: (2025)

CUTE-Planner: Confidence-aware Uneven Terrain Exploration Planner
di: Park, Miryeong, et al.
Pubblicazione: (2025)

Model Predictive Control for Aggressive Driving Over Uneven Terrain
di: Han, Tyler, et al.
Pubblicazione: (2023)

Adaptive Diffusion Terrain Generator for Autonomous Uneven Terrain Navigation
di: Yu, Youwei, et al.
Pubblicazione: (2024)

A Genetic Approach to Gradient-Free Kinodynamic Planning in Uneven Terrains
di: Jerome, Otobong, et al.
Pubblicazione: (2025)

Learning Humanoid Locomotion over Challenging Terrain
di: Radosavovic, Ilija, et al.
Pubblicazione: (2024)

Motion Accuracy and Computational Effort in QP-based Robot Control
di: Chefchaouni, Sélim, et al.
Pubblicazione: (2024)

Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications
di: Muraccioli, Bastien, et al.
Pubblicazione: (2025)

Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains
di: Yu, Shangqun, et al.
Pubblicazione: (2024)

Revisiting Reward Design and Evaluation for Robust Humanoid Standing and Walking
di: van Marum, Bart, et al.
Pubblicazione: (2024)

Adaptive Force-Based Control of Dynamic Legged Locomotion over Uneven Terrain
di: Sombolestan, Mohsen, et al.
Pubblicazione: (2023)

History-Aware Planning for Risk-free Autonomous Navigation on Unknown Uneven Terrain
di: Wang, Yinchuan, et al.
Pubblicazione: (2024)

CMR: Contractive Mapping Embeddings for Robust Humanoid Locomotion on Unstructured Terrains
di: Zeng, Qixin, et al.
Pubblicazione: (2026)

Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains
di: Yue, Linzhu, et al.
Pubblicazione: (2024)

Walking with Terrain Reconstruction: Learning to Traverse Risky Sparse Footholds
di: Yu, Ruiqi, et al.
Pubblicazione: (2024)

Robust Dynamic Walking for a 3D Dual-SLIP Model under One-Step Unilateral Stiffness Perturbations: Towards Bipedal Locomotion over Compliant Terrain
di: Karakasis, Chrysostomos, et al.
Pubblicazione: (2022)

Bipedal Robust Walking on Uneven Footholds: Piecewise Slope LIPM with Discrete Model Predictive Control
di: Shi, Yapeng, et al.
Pubblicazione: (2025)

Stable Imitation of Multigait and Bipedal Motions for Quadrupedal Robots Over Uneven Terrains
di: Erdong Xiao, et al.
Pubblicazione: (2025)