Learning Safe Humanoid Navigation from Reduced Order Models

arXiv:2609.19272 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Comments: 8 pages, 6 figures, under review for ICRA 2027

Project page: https://wdc3iii.github.io/rom-nav

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Fidelity — 5× in this paper · explained in 2 episodes
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Embeddings — 4× in this paper · explained in 2 episodes
• Sim-to-Real Gap — 2× in this paper · explained in 6 episodes
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Ablation — 1× in this paper · explained in 1 episode
• According to Control Barrier Function — 1× in this paper
• Alignment — 1× in this paper · explained in 1 episode
• Computer Vision and Pattern Recognition — 1× in this paper
• Control Barrier Function (CBF) — 1× in this paper · explained in 5 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• International Conference on Learning Representations — 1× in this paper
• Lyapunov function — 1× in this paper · explained in 2 episodes
• Motion Primitives — 1× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• Two-stage training — 1× in this paper · explained in 2 episodes
• Variational Bayes — 1× in this paper · explained in 2 episodes

Sources

• Chasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid Running
• RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains
• Terrain Consistent Reference-Guided RL for Humanoid Navigation Autonomy
• Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching
• Layered Safety: Enhancing Autonomous Collision Avoidance via Multistage CBF Safety Filters
• FocusNav: Spatial Selective Attention with Waypoint Guidance for Humanoid Local Navigation
• GuideWalk: Learning Unified Autonomous Navigation and Locomotion for Humanoid Robots across Versatile Terrains
• NavRL++: A System-Level Framework for Improving Sim-to-Real Transfer in Reinforcement Learning-Based Robot Navigation
• Kickstarting Deep Reinforcement Learning
• GUIDE: Goal-Initialized Directional Understanding for End-to-End Legged Navigation
• On Evaluation of Embodied Navigation Agents

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