Cover Image

Gait-Conditioned Reinforcement Learning with Multi-Phase Curriculum for Humanoid Locomotion

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Peng, Tianhu, Bao, Lingfan, Zhou, Chengxu
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Sim-to-Real Transfer in Deep Reinforcement Learning for Bipedal Locomotion
by: Bao, Lingfan, et al.
Published: (2025)

Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey
by: Bao, Lingfan, et al.
Published: (2024)

SCDP: Learning Humanoid Locomotion from Partial Observations via Mixed-Observation Distillation
by: Carroll, Milo, et al.
Published: (2026)

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

A High-Fidelity Digital Twin for Robotic Manipulation Based on 3D Gaussian Splatting
by: Sun, Ziyang, et al.
Published: (2026)

Learning Bipedal Walking on a Quadruped Robot via Adversarial Motion Priors
by: Peng, Tianhu, et al.
Published: (2024)

Learning to Adapt through Bio-Inspired Gait Strategies for Versatile Quadruped Locomotion
by: Humphreys, Joseph, et al.
Published: (2024)

E-SDS: Environment-aware See it, Do it, Sorted - Automated Environment-Aware Reinforcement Learning for Humanoid Locomotion
by: Yalcin, Enis, et al.
Published: (2025)

Quadruped Parkour Learning: Sparsely Gated Mixture of Experts with Visual Input
by: Ziegltrum, Michael, et al.
Published: (2026)

PRIOR: Perceptive Learning for Humanoid Locomotion with Reference Gait Priors
by: Han, Chenxi, et al.
Published: (2026)

Gait-Adaptive Perceptive Humanoid Locomotion with Real-Time Under-Base Terrain Reconstruction
by: Song, Haolin, et al.
Published: (2025)

Explicit Stair Geometry Conditioning for Robust Humanoid Locomotion
by: Zhang, Jianguo, et al.
Published: (2026)

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

Coordinated Humanoid Robot Locomotion with Symmetry Equivariant Reinforcement Learning Policy
by: Nie, Buqing, et al.
Published: (2025)

Mastering Agile Jumping Skills from Simple Practices with Iterative Learning Control
by: Nguyen, Chuong, et al.
Published: (2024)

Multi-Gait Learning for Humanoid Robots Using Reinforcement Learning with Selective Adversarial Motion Prior
by: Wu, Yuanye, et al.
Published: (2026)

Booster Gym: An End-to-End Reinforcement Learning Framework for Humanoid Robot Locomotion
by: Wang, Yushi, et al.
Published: (2025)

Achieving Stable High-Speed Locomotion for Humanoid Robots with Deep Reinforcement Learning
by: Zhang, Xinming, et al.
Published: (2024)

PCHC: Enabling Preference Conditioned Humanoid Control via Multi-Objective Reinforcement Learning
by: Li, Huanyu, et al.
Published: (2026)

TransCurriculum: Multi-Dimensional Curriculum Learning for Fast & Stable Locomotion
by: Mishra, Prakhar, et al.
Published: (2026)

Scaling Rough Terrain Locomotion with Automatic Curriculum Reinforcement Learning
by: Li, Ziming, et al.
Published: (2026)

Preference-Conditioned Multi-Objective RL for Integrated Command Tracking and Force Compliance in Humanoid Locomotion
by: Leng, Tingxuan, et al.
Published: (2025)

Learning Humanoid Locomotion with Perceptive Internal Model
by: Long, Junfeng, et al.
Published: (2024)

MASH: Cooperative-Heterogeneous Multi-Agent Reinforcement Learning for Single Humanoid Robot Locomotion
by: Liu, Qi, et al.
Published: (2025)

Dribble Master: Learning Agile Humanoid Dribbling through Legged Locomotion
by: Wang, Zhuoheng, et al.
Published: (2025)

Mechanical Intelligence-Aware Curriculum Reinforcement Learning for Humanoids with Parallel Actuation
by: Tanaka, Yusuke, et al.
Published: (2025)

Reduced-Order Model-Guided Reinforcement Learning for Demonstration-Free Humanoid Locomotion
by: Liu, Shuai, et al.
Published: (2025)

Cost-Matching Model Predictive Control for Efficient Reinforcement Learning in Humanoid Locomotion
by: Cai, Wenqi, et al.
Published: (2026)

Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning
by: Shi, Jiyuan, et al.
Published: (2025)

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

Simultaneous Locomotion Mode Classification and Continuous Gait Phase Estimation for Transtibial Prostheses
by: Posh, Ryan, et al.
Published: (2024)

Learning Humanoid Locomotion with World Model Reconstruction
by: Sun, Wandong, et al.
Published: (2025)

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

Contrastive Representation Learning for Robust Sim-to-Real Transfer of Adaptive Humanoid Locomotion
by: Lu, Yidan, et al.
Published: (2025)

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

Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
by: Gu, Zhaoyuan, et al.
Published: (2025)

Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies
by: Chen, Zixuan, et al.
Published: (2024)

Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking
by: Zhang, Zewei, et al.
Published: (2026)

Distillation-PPO: A Novel Two-Stage Reinforcement Learning Framework for Humanoid Robot Perceptive Locomotion
by: Zhang, Qiang, et al.
Published: (2025)

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