Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors
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arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866917508257153024 |
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| author | Lu, Yidan Zhong, Yichao Zhao, Liu Li, Wanyue Lu, Peng |
| author_facet | Lu, Yidan Zhong, Yichao Zhao, Liu Li, Wanyue Lu, Peng |
| contents | We propose a unified reinforcement learning framework that enables a single policy to perform walking, running, and fall recovery on the Unitree G1 humanoid robot, validated on physical hardware without any explicit mode-switching command at deployment. The framework extends Adversarial Motion Priors (AMP) by replacing the conventional global reference distribution with a state-dependent gate that routes each training transition to one of two discriminators: a dedicated recovery discriminator and a velocity-conditioned locomotion discriminator that jointly covers walking and running. The gate is defined by a single fixed threshold on projected gravity: the recovery discriminator is activated when body tilt exceeds approximately $37^\circ$ from vertical ($|g_z+1|>0.6$); otherwise the locomotion discriminator is used, with the normalized commanded velocity serving as a condition that selects the appropriate reference trajectory between walk and run clips. Only three LAFAN1 reference clips are required to regularize the complete behavior set. At deployment, a single frozen ONNX policy executes at 50\,Hz with no runtime mode logic; hardware experiments demonstrate successful recovery from both prone and supine falls and smooth walk-to-run transitions under the same controller. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_18611 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors Lu, Yidan Zhong, Yichao Zhao, Liu Li, Wanyue Lu, Peng Robotics We propose a unified reinforcement learning framework that enables a single policy to perform walking, running, and fall recovery on the Unitree G1 humanoid robot, validated on physical hardware without any explicit mode-switching command at deployment. The framework extends Adversarial Motion Priors (AMP) by replacing the conventional global reference distribution with a state-dependent gate that routes each training transition to one of two discriminators: a dedicated recovery discriminator and a velocity-conditioned locomotion discriminator that jointly covers walking and running. The gate is defined by a single fixed threshold on projected gravity: the recovery discriminator is activated when body tilt exceeds approximately $37^\circ$ from vertical ($|g_z+1|>0.6$); otherwise the locomotion discriminator is used, with the normalized commanded velocity serving as a condition that selects the appropriate reference trajectory between walk and run clips. Only three LAFAN1 reference clips are required to regularize the complete behavior set. At deployment, a single frozen ONNX policy executes at 50\,Hz with no runtime mode logic; hardware experiments demonstrate successful recovery from both prone and supine falls and smooth walk-to-run transitions under the same controller. |
| title | Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.18611 |