Passive-Dynamic-Walking-Inspired Dynamics Guidance for Energy-Efficient Humanoid Locomotion

arXiv:2609.35935 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

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

Terminology

Reinforcement Learning — 14× in this paper · explained in 4 episodes
Core — 7× in this paper · explained in 2 episodes
Ablation — 5× in this paper · explained in 1 episode
Energy Efficiency — 3× in this paper · explained in 3 episodes
Regularization — 3× in this paper · explained in 3 episodes
Reward Function — 3× in this paper · explained in 2 episodes
Actor — 2× in this paper · explained in 3 episodes
Alignment — 2× in this paper · explained in 1 episode
Conference on Robot Learning — 2× in this paper
Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
Generalization — 2× in this paper · explained in 13 episodes
Reward Shaping — 2× in this paper · explained in 2 episodes
Action Space — 1× in this paper · explained in 1 episode
Adam — 1× in this paper · explained in 2 episodes
Adaptation — 1× in this paper · explained in 1 episode
Alternation — 1× in this paper · explained in 1 episode
Benchmarking — 1× in this paper · explained in 3 episodes
Consistency — 1× in this paper · explained in 3 episodes
Degeneracy — 1× in this paper · explained in 3 episodes
IEEE International Conference on Robotics and Automation — 1× in this paper
Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
Robustness — 1× in this paper · explained in 5 episodes
Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
World Model — 1× in this paper · explained in 7 episodes

Sources

Learning Motion Skills with Adaptive Assistive Curriculum Force in Humanoid Robots

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