arxivcs.ROcs.LG2026-07-03
ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion
Seokju Lee, Jeongtae Lee, Jeonghyeok Lim, Jeonguk Kang, Byungwook Lee, Seungho Han, et al.
In this paper, we propose Adversarial Dynamics Priors (ADP) for perturbation-resilient humanoid locomotion control. Existing motion prior-based methods induce natural motion styles by imitating kinematic motion features, but they do not directly regularize dynamics features, such…