Reinforcement learning with a constellation-based reward enables direct, efficient humanoid locomotion to short-range SE(2) targets, outperforming velocity-tracking baselines in simulation and transferring to hardware.
Learning multi-modal whole-body control for real-world humanoid robots,
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No More Marching: Learning Humanoid Locomotion for Short-Range SE(2) Targets
Reinforcement learning with a constellation-based reward enables direct, efficient humanoid locomotion to short-range SE(2) targets, outperforming velocity-tracking baselines in simulation and transferring to hardware.