Cover Image

Heuristic Step Planning for Learning Dynamic Bipedal Locomotion: A Comparative Study of Model-Based and Model-Free Approaches

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Suliman, William, Chaikovskaia, Ekaterina, Davydenko, Egor, Gorbachev, Roman
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

Full‐Body Optimization‐Based Bipedal Walking Control With Task‐Space Inverse Dynamics and Virtual Constraints
by: William Suliman, et al.
Published: (2025)

Achieving Precise and Reliable Locomotion with Differentiable Simulation-Based System Identification
by: Kovalev, Vyacheslav, et al.
Published: (2025)

Trajectory-based actuator identification via differentiable simulation
by: Kovalev, Vyacheslav, et al.
Published: (2026)

DecARt Leg: Design and Evaluation of a Novel Humanoid Robot Leg with Decoupled Actuation for Agile Locomotion
by: Davydenko, Egor, et al.
Published: (2025)

Robust RL Control for Bipedal Locomotion with Closed Kinematic Chains
by: Maslennikov, Egor, et al.
Published: (2025)

Learning Vision-Based Bipedal Locomotion for Challenging Terrain
by: Duan, Helei, et al.
Published: (2023)

Descriptive Model-based Learning and Control for Bipedal Locomotion
by: Kumar, Suraj, et al.
Published: (2025)

Integrating Model-Based Footstep Planning with Model-Free Reinforcement Learning for Dynamic Legged Locomotion
by: Lee, Ho Jae, et al.
Published: (2024)

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

Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
by: Li, Zhongyu, et al.
Published: (2024)

The Strange Attractor Model of Bipedal Locomotion and its Consequences on Motor Control
by: Tiseo, Carlo, et al.
Published: (2018)

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

RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control
by: Bang, Seung Hyeon, et al.
Published: (2024)

Human Imitated Bipedal Locomotion with Frequency Based Gait Generator Network
by: Ates, Yusuf Baran, et al.
Published: (2025)

Evaluating Robots Like Human Infants: A Case Study of Learned Bipedal Locomotion
by: Crowley, Devin, et al.
Published: (2025)

LIPM-Guided Reinforcement Learning for Stable and Perceptive Locomotion in Bipedal Robots
by: Su, Haokai, et al.
Published: (2025)

Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control
by: Gu, Zhaoyuan, et al.
Published: (2024)

RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain
by: Kamohara, Junnosuke, et al.
Published: (2025)

Contingency Model Predictive Control for Bipedal Locomotion on Moving Surfaces with a Linear Inverted Pendulum Model
by: Chen, Kuo, et al.
Published: (2024)

No More Blind Spots: Learning Vision-Based Omnidirectional Bipedal Locomotion for Challenging Terrain
by: Gadde, Mohitvishnu S., et al.
Published: (2025)

The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics
by: Xia, Boxi, et al.
Published: (2024)

Learning Terrain Aware Bipedal Locomotion via Reduced Dimensional Perceptual Representations
by: Castillo, Guillermo A., et al.
Published: (2025)

Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
by: Xiang, Zhaoyang, et al.
Published: (2024)

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

Capture Point Control in Thruster-Assisted Bipedal Locomotion
by: Pitroda, Shreyansh, et al.
Published: (2024)

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

Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs
by: Katayama, Sotaro, et al.
Published: (2025)

Constrained Reinforcement Learning for Unstable Point-Feet Bipedal Locomotion Applied to the Bolt Robot
by: Roux, Constant, et al.
Published: (2025)

Bipedal-Walking-Dynamics Model on Granular Terrains
by: Chen, Xunjie, et al.
Published: (2026)

VMTS: Vision-Assisted Teacher-Student Reinforcement Learning for Multi-Terrain Locomotion in Bipedal Robots
by: Chen, Fu, et al.
Published: (2025)

TOLEBI: Learning Fault-Tolerant Bipedal Locomotion via Online Status Estimation and Fallibility Rewards
by: Lee, Hokyun, et al.
Published: (2026)

Nonlinear Model Predictive Control for Robust Bipedal Locomotion: Exploring Angular Momentum and CoM Height Changes
by: Ding, Jiatao, et al.
Published: (2019)

Accelerating Signal-Temporal-Logic-Based Task and Motion Planning of Bipedal Navigation using Benders Decomposition
by: Ren, Jiming, et al.
Published: (2025)

Real-time Whole-body Model Predictive Control for Bipedal Locomotion with a Novel Kino-dynamic Model and Warm-start Method
by: Kim, Junhyung, et al.
Published: (2025)

Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes
by: Pitroda, Shreyansh, et al.
Published: (2024)

A Modular Residual Learning Framework to Enhance Model-Based Approach for Robust Locomotion
by: Kim, Min-Gyu, et al.
Published: (2025)

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing
by: Wang, Tianze, et al.
Published: (2025)

CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping
by: He, Zhicheng, et al.
Published: (2024)

Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability
by: Muenprasitivej, Kasidit, et al.
Published: (2024)

Learning Local Heuristics for Search-Based Navigation Planning
by: Veerapaneni, Rishi, et al.
Published: (2023)