Foothold Penalty
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T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion
arXiv:2606.06944v1 Announce Type: new Abstract: Achieving both anthropomorphic naturalness and robust terrain traversal remains a fundamental challenge in humanoid locomotion. Existing Reinforcement Learning (RL) approaches typically rely on fixed motion priors, limiting their adaptability to varying environments. We propose Terrain-conditioned Generative Motion Priors (T-GMP), a module that captures a terrain-conditioned latent motion manifold from a few expert state-terrain demonstrations...