Traversing Narrow Paths: A Two-Stage Reinforcement Learning Framework for Robust and Safe Humanoid Walking
Fuente:
arXiv
Guardado en:
| Autores principales: | , , , , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2025
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866911167642861568 |
|---|---|
| author | Huang, TianChen Xu, Runchen Wang, Yu Gao, Wei Zhang, Shiwu |
| author_facet | Huang, TianChen Xu, Runchen Wang, Yu Gao, Wei Zhang, Shiwu |
| contents | Traversing narrow paths is challenging for humanoid robots due to the sparse and safety-critical footholds required. Purely template-based or end-to-end reinforcement learning-based methods suffer from such harsh terrains. This paper proposes a two stage training framework for such narrow path traversing tasks, coupling a template-based foothold planner with a low-level foothold tracker from Stage-I training and a lightweight perception aided foothold modifier from Stage-II training. With the curriculum setup from flat ground to narrow paths across stages, the resulted controller in turn learns to robustly track and safely modify foothold targets to ensure precise foot placement over narrow paths. This framework preserves the interpretability from the physics-based template and takes advantage of the generalization capability from reinforcement learning, resulting in easy sim-to-real transfer. The learned policies outperform purely template-based or reinforcement learning-based baselines in terms of success rate, centerline adherence and safety margins. Validation on a Unitree G1 humanoid robot yields successful traversal of a 0.2m wide and 3m long beam for 20 trials without any failure. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_20661 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Traversing Narrow Paths: A Two-Stage Reinforcement Learning Framework for Robust and Safe Humanoid Walking Huang, TianChen Xu, Runchen Wang, Yu Gao, Wei Zhang, Shiwu Robotics Traversing narrow paths is challenging for humanoid robots due to the sparse and safety-critical footholds required. Purely template-based or end-to-end reinforcement learning-based methods suffer from such harsh terrains. This paper proposes a two stage training framework for such narrow path traversing tasks, coupling a template-based foothold planner with a low-level foothold tracker from Stage-I training and a lightweight perception aided foothold modifier from Stage-II training. With the curriculum setup from flat ground to narrow paths across stages, the resulted controller in turn learns to robustly track and safely modify foothold targets to ensure precise foot placement over narrow paths. This framework preserves the interpretability from the physics-based template and takes advantage of the generalization capability from reinforcement learning, resulting in easy sim-to-real transfer. The learned policies outperform purely template-based or reinforcement learning-based baselines in terms of success rate, centerline adherence and safety margins. Validation on a Unitree G1 humanoid robot yields successful traversal of a 0.2m wide and 3m long beam for 20 trials without any failure. |
| title | Traversing Narrow Paths: A Two-Stage Reinforcement Learning Framework for Robust and Safe Humanoid Walking |
| topic | Robotics |
| url | https://arxiv.org/abs/2508.20661 |