A multi-stage RL curriculum produces a unified whole-body controller enabling humanoid robots to sustain badminton rallies in simulation and return shuttles at up to 19.1 m/s in real hardware, with both EKF-based and prediction-free variants.
Towards versatile humanoid table tennis: Unified reinforcement learning with prediction augmentation.arXiv preprint arXiv:2509.21690, 2025
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Humanoid Whole-Body Badminton via Multi-Stage Reinforcement Learning
A multi-stage RL curriculum produces a unified whole-body controller enabling humanoid robots to sustain badminton rallies in simulation and return shuttles at up to 19.1 m/s in real hardware, with both EKF-based and prediction-free variants.