Hierarchical Reinforcement Learning for Collision-Free Locomotion of an Underactuated Biped

arXiv:2610.05855 · cs.RO, cs.AI, cs.HC, cs.SY, eess.SY · Submitted 2026-10-05 · Read on arXiv

cs.RO, cs.AI, cs.HC, cs.SY, eess.SY

Submitted: 2026-10-05

Updated: 2026-10-05

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

Terminology

• Reinforcement Learning — 1× in this paper · explained in 4 episodes

Sources

• Learning Bipedal Walking for Humanoid Robots in Challenging Environments with Obstacle Avoidance
• EmoBipedNav: Emotion-aware Social Navigation for Bipedal Robots with Deep Reinforcement Learning
• Proximal Policy Optimization Algorithms

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