A proprioceptive humanoid policy trained with slope-adaptive ZMP regularization plus biomechanical reward gating traverses outdoor grass slopes to 32.1° without online exteroception.
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Physics-Guided Biomechanical Gait Adaptation for Humanoid Locomotion on Extreme Sloped Terrains
A proprioceptive humanoid policy trained with slope-adaptive ZMP regularization plus biomechanical reward gating traverses outdoor grass slopes to 32.1° without online exteroception.