Haiyue Zhu

Physics-Guided Biomechanical Gait Adaptation for Humanoid Locomotion on Extreme Sloped Terrains

Xuanyu Chen, Mohan Liu, Dengchen Mei, Zhihao Gu, Haitian Zhang, Kaimin Mao, et al.

Model-free reinforcement learning has enabled impressive humanoid locomotion; however, control on steep slopes remains largely unexplored. Unlike flat or discrete terrains, sloped terrains impose a persistent gravitational bias that demands simultaneous stability and posture cont…Read more