HUSKY combines humanoid-skateboard dynamics modeling with adversarial motion priors and physics-guided lean-to-steer strategies to achieve real-world stable skateboarding on a humanoid robot.
Humanoid whole-body locomotion on narrow terrain via dynamic balance and reinforcement learning.arXiv preprint arXiv:2502.17219, 2025
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DreamPolicy integrates an autoregressive diffusion world model with policy learning to produce a single scalable policy that generalizes to unseen composite terrains for humanoid locomotion.
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HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control
HUSKY combines humanoid-skateboard dynamics modeling with adversarial motion priors and physics-guided lean-to-steer strategies to achieve real-world stable skateboarding on a humanoid robot.
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DreamPolicy: A Unified World-model Policy for Scalable Humanoid Locomotion
DreamPolicy integrates an autoregressive diffusion world model with policy learning to produce a single scalable policy that generalizes to unseen composite terrains for humanoid locomotion.