{"id":"https://openalex.org/W7161684719","doi":"https://doi.org/10.48550/arxiv.2605.18611","title":"Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors","display_name":"Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors","publication_year":2026,"publication_date":"2026-05-18","ids":{"openalex":"https://openalex.org/W7161684719","doi":"https://doi.org/10.48550/arxiv.2605.18611"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.18611","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.18611","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.18611","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101752311","display_name":"Yidan Lu","orcid":"https://orcid.org/0000-0002-0353-4687"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Yidan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101263450","display_name":"Yichao Zhong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhong, Yichao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136479993","display_name":"Liu Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Liu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136466884","display_name":"Wanyue Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Wanyue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136458681","display_name":"Peng Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Peng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9362999796867371,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9362999796867371,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.010200000368058681,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.010200000368058681,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/discriminator","display_name":"Discriminator","score":0.9350000023841858},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7200999855995178},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.6574000120162964},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5174999833106995},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.46950000524520874},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.445499986410141},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.43560001254081726},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4203999936580658}],"concepts":[{"id":"https://openalex.org/C2779803651","wikidata":"https://www.wikidata.org/wiki/Q5282088","display_name":"Discriminator","level":3,"score":0.9350000023841858},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7200999855995178},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.6574000120162964},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6525999903678894},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5174999833106995},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5167999863624573},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.46950000524520874},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.445499986410141},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.43560001254081726},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4343999922275543},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4203999936580658},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.36250001192092896},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3601999878883362},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.34700000286102295},{"id":"https://openalex.org/C125567185","wikidata":"https://www.wikidata.org/wiki/Q3267428","display_name":"Supine position","level":2,"score":0.33570000529289246},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.3273000121116638},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3098999857902527},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2962999939918518},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.2962000072002411},{"id":"https://openalex.org/C110121322","wikidata":"https://www.wikidata.org/wiki/Q865811","display_name":"Distribution (mathematics)","level":2,"score":0.2856999933719635},{"id":"https://openalex.org/C77265313","wikidata":"https://www.wikidata.org/wiki/Q879844","display_name":"Rest (music)","level":2,"score":0.262800008058548},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25369998812675476},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.18611","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.18611","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.18611","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.18611","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.7403080463409424}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,9,51,64,69,84,118,146],"unified":[3],"reinforcement":[4],"learning":[5],"framework":[6,37],"that":[7,54,73,120],"enables":[8],"single":[10,85,147],"policy":[11,150],"to":[12,59,138],"perform":[13],"walking,":[14],"running,":[15],"and":[16,68,77,128,167,170],"fall":[17],"recovery":[18,66,92,163],"on":[19,26,88],"the":[20,45,91,106,112,122,140,175],"Unitree":[21],"G1":[22],"humanoid":[23],"robot,":[24],"validated":[25],"physical":[27],"hardware":[28,159],"without":[29],"any":[30],"explicit":[31],"mode-switching":[32],"command":[33],"at":[34,152],"deployment.":[35],"The":[36,79],"extends":[38],"Adversarial":[39],"Motion":[40],"Priors":[41],"(AMP)":[42],"by":[43,83],"replacing":[44],"conventional":[46],"global":[47],"reference":[48,124,134],"distribution":[49],"with":[50,111,154],"state-dependent":[52],"gate":[53,80],"routes":[55],"each":[56],"training":[57],"transition":[58],"one":[60],"of":[61],"two":[62],"discriminators:":[63],"dedicated":[65],"discriminator":[67,72,93,108],"velocity-conditioned":[70],"locomotion":[71,107],"jointly":[74],"covers":[75],"walking":[76],"running.":[78],"is":[81,94,109],"defined":[82],"fixed":[86],"threshold":[87],"projected":[89],"gravity:":[90],"activated":[95],"when":[96],"body":[97],"tilt":[98],"exceeds":[99],"approximately":[100],"$37^\\circ$":[101],"from":[102,164],"vertical":[103],"($|g_z+1|&gt;0.6$);":[104],"otherwise":[105],"used,":[110],"normalized":[113],"commanded":[114],"velocity":[115],"serving":[116],"as":[117],"condition":[119],"selects":[121],"appropriate":[123],"trajectory":[125],"between":[126],"walk":[127],"run":[129],"clips.":[130],"Only":[131],"three":[132],"LAFAN1":[133],"clips":[135],"are":[136],"required":[137],"regularize":[139],"complete":[141],"behavior":[142],"set.":[143],"At":[144],"deployment,":[145],"frozen":[148],"ONNX":[149],"executes":[151],"50\\,Hz":[153],"no":[155],"runtime":[156],"mode":[157],"logic;":[158],"experiments":[160],"demonstrate":[161],"successful":[162],"both":[165],"prone":[166],"supine":[168],"falls":[169],"smooth":[171],"walk-to-run":[172],"transitions":[173],"under":[174],"same":[176],"controller.":[177]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-20T00:00:00"}
