QuietWalk combines an inverse-dynamics-constrained PINN for GRF estimation with RL to produce low-impact humanoid locomotion policies that generalize across footwear, cutting mean noise by 7.17 dB on hardware.
Effect on the parameters of the high-heel shoe and transfer time of ground reaction force during level walking
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QuietWalk: Physics-Informed Reinforcement Learning for Ground Reaction Force-Aware Humanoid Locomotion Under Diverse Footwear
QuietWalk combines an inverse-dynamics-constrained PINN for GRF estimation with RL to produce low-impact humanoid locomotion policies that generalize across footwear, cutting mean noise by 7.17 dB on hardware.