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title
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies
description
We propose a straightforward algorithm to train general locomotion controllers for multiple humanoid robots.
image
site name
author
updated
2026-03-01 17:08:12
raw text
Humanoid Locomotion Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies Zixuan Chen *,1 Xialin He *,2 Yen-Jen Wang *,3 Qiayuan Liao 3 Yanjie Ze 4 Zhongyu Li 3 S. Shankar Sastry 3 Jiajun Wu 4 Koushil Sreenath 3 Saurabh Gupta 2 Xue Bin Peng 1,5 1 Simon Fraser University 2 UIUC 3 UC Berkeley 4 Stanford University 5 NVIDIA * Equal contribution arXiv Paper Code Video Supplementary Video Abstract Reinforcement learning combined with sim-to-real transfer offers a general framework for developing locomotion controllers for legged robot...
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