A proprioceptive humanoid policy trained with slope-adaptive ZMP regularization plus biomechanical reward gating traverses outdoor grass slopes to 32.1° without online exteroception.
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2026 2representative citing papers
HEFT enables tracking of human motions including locomotion and squats on a 175cm 65kg humanoid under up to 24kg payloads by combining Privileged Motion Guidance from noisy VR data with a Windowed Payload Curriculum.
citing papers explorer
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Physics-Guided Biomechanical Gait Adaptation for Humanoid Locomotion on Extreme Sloped Terrains
A proprioceptive humanoid policy trained with slope-adaptive ZMP regularization plus biomechanical reward gating traverses outdoor grass slopes to 32.1° without online exteroception.
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HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum
HEFT enables tracking of human motions including locomotion and squats on a 175cm 65kg humanoid under up to 24kg payloads by combining Privileged Motion Guidance from noisy VR data with a Windowed Payload Curriculum.