A Change of Frame Makes the Capture Point Proprioceptive: Distillation-Free Humanoid Single-Leg Balance
Unified humanoid policies often fail at clean single-leg balance by relying on recovery actions like stepping. This work introduces DDC, a distillation-free policy that achieves near-perfect stance on real hardware by using a deployable dynamic Center of Mass observation and a human-science reward library focused strictly on prevention over repair. It proves that observable state information is key for robust balance.