State-dependent adversarial motion priors with a gravity-threshold gate enable one frozen policy to unify walking, running, and recovery on humanoid hardware.
Hifar: Multi-stage curriculum learning for high-dynamics humanoid fall recovery
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Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors
State-dependent adversarial motion priors with a gravity-threshold gate enable one frozen policy to unify walking, running, and recovery on humanoid hardware.