{"id":"https://openalex.org/W7163654514","doi":"https://doi.org/10.48550/arxiv.2606.05687","title":"Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation","display_name":"Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation","publication_year":2026,"publication_date":"2026-06-04","ids":{"openalex":"https://openalex.org/W7163654514","doi":"https://doi.org/10.48550/arxiv.2606.05687"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.05687","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05687","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2606.05687","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138000172","display_name":"Junheng Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Junheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137964297","display_name":"Liang Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Liang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137979657","display_name":"Sergio A. Esteban","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Esteban, Sergio A.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137983931","display_name":"Lizhi Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Lizhi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019969465","display_name":"J\u00e1n Drgo\u0148a","orcid":"https://orcid.org/0000-0003-1223-208X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Drgo\u0148a, J\u00e1n","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ames, Aaron D.","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":0.6046000123023987,"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":0.6046000123023987,"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/T12290","display_name":"Human Motion and Animation","score":0.1143999993801117,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.08179999887943268,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7849000096321106},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7799000144004822},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5946000218391418},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5791000127792358},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5656999945640564},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5062000155448914},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5005999803543091},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4198000133037567}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7849000096321106},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7799000144004822},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7670999765396118},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5946000218391418},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5791000127792358},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5656999945640564},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5062000155448914},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5005999803543091},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4643999934196472},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4198000133037567},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.37220001220703125},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.3693000078201294},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.36800000071525574},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.362199991941452},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35120001435279846},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35030001401901245},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.32989999651908875},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.3183000087738037},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3021000027656555},{"id":"https://openalex.org/C190475519","wikidata":"https://www.wikidata.org/wiki/Q544384","display_name":"Massively parallel","level":2,"score":0.2799000144004822},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.27639999985694885},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.27489998936653137},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2703999876976013},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.2612999975681305},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26080000400543213},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.2587999999523163}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.05687","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05687","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.05687","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05687","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"humanoid":[1,56],"motion":[2],"control,":[3],"model":[4],"predictive":[5],"control":[6],"(MPC)":[7],"offers":[8],"physically":[9],"grounded":[10],"prediction":[11],"and":[12,58,91,108,116,129],"constraint":[13],"handling,":[14],"while":[15],"reinforcement":[16],"learning":[17],"(RL)":[18],"enables":[19],"robust":[20],"whole-body":[21],"skills":[22],"through":[23],"large-scale":[24],"simulation.":[25],"However,":[26],"using":[27],"MPC":[28,53,66,73,95],"inside":[29],"RL":[30],"often":[31],"requires":[32],"time-consuming":[33],"problem":[34],"construction":[35],"or":[36],"excessive":[37],"training":[38,76],"overhead,":[39],"making":[40],"such":[41],"frameworks":[42],"difficult":[43],"to":[44,103],"justify":[45],"in":[46,75,82,127],"practice.":[47],"This":[48],"work":[49],"studies":[50,115],"efficient":[51],"training-time":[52],"guidance":[54,71],"for":[55],"locomotion":[57,128],"manipulation,":[59],"termed":[60],"MPC-RL.":[61],"We":[62],"introduce":[63],"a":[64,89,111],"centroidal-dynamics":[65],"reward":[67],"formulation":[68],"that":[69,97,122],"leverages":[70],"from":[72],"trajectories":[74],"time.":[77],"To":[78],"make":[79],"this":[80],"practical":[81],"massively":[83],"parallel":[84],"RL,":[85],"we":[86,119],"develop":[87],"$\u03c0^n$MPC,":[88],"parallel-in-horizon":[90],"construction-free":[92],"batched":[93],"GPU":[94],"solver":[96],"operates":[98],"directly":[99],"on":[100],"time-varying":[101],"dynamics":[102],"avoid":[104],"high":[105],"memory":[106],"usage":[107],"pre-compilation.":[109],"Through":[110],"variety":[112],"of":[113],"comparative":[114],"hardware":[117],"validations,":[118],"have":[120],"found":[121],"MPC-RL":[123],"achieves":[124],"superior":[125],"performance":[126],"manipulation":[130],"skills.":[131],"The":[132],"code":[133],"base":[134],"is":[135],"available":[136],"at":[137],"https://github.com/junhengl/mpc-rl.":[138]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-06T00:00:00"}