Beyond Reward Hacking: Proxy Divergence Across Four Layers of a Staged Humanoid Learning Pipeline
cs.RO
Submitted: 2026-10-02
Updated: 2026-10-02
Terminology
Sources
- Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
- BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
- Proximal Policy Optimization Algorithms
- High-Dimensional Continuous Control Using Generalized Advantage Estimation
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