{"id":"https://openalex.org/W7164141297","doi":"https://doi.org/10.48550/arxiv.2606.10288","title":"MARCH: Model-Assisted Reinforcement Learning for the Perceptive Control of Humanoids over Sparse Footholds","display_name":"MARCH: Model-Assisted Reinforcement Learning for the Perceptive Control of Humanoids over Sparse Footholds","publication_year":2026,"publication_date":"2026-06-09","ids":{"openalex":"https://openalex.org/W7164141297","doi":"https://doi.org/10.48550/arxiv.2606.10288"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.10288","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.10288","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2606.10288","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138328465","display_name":"Codrin Crismariu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Crismariu, Codrin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5034165188","display_name":"Ryan K. Cosner","orcid":"https://orcid.org/0000-0002-4035-1425"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cosner, Ryan K.","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":0.917900025844574,"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":0.917900025844574,"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":0.026900000870227814,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.010099999606609344,"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/trajectory","display_name":"Trajectory","score":0.6471999883651733},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6261000037193298},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5734000205993652},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5436999797821045},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.447299987077713},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.435699999332428},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.428600013256073},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.3569999933242798}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6635000109672546},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6471999883651733},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6261000037193298},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5766000151634216},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5734000205993652},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5436999797821045},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.447299987077713},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.435699999332428},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.428600013256073},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.414000004529953},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3569999933242798},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.30799999833106995},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.2985999882221222},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.29820001125335693},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.29089999198913574},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27649998664855957},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.27399998903274536},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2720000147819519},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.26829999685287476},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26589998602867126},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2635999917984009},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.2635999917984009},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.26080000400543213},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26019999384880066}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.10288","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.10288","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2606.10288","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.10288","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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/4","score":0.5536885857582092,"display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Perceptive":[0],"bipedal":[1],"locomotion":[2,34,120],"over":[3],"sparse":[4,147],"terrain":[5],"remains":[6],"a":[7,44,59,68,74,92,113,141],"difficult":[8],"challenge:":[9],"model-based":[10],"methods":[11,20],"are":[12,21],"precise":[13],"but":[14,23],"brittle":[15],"to":[16,25,127],"uncertainty,":[17],"while":[18],"model-free":[19,128],"robust":[22],"struggle":[24],"discover":[26],"the":[27,82,89,110],"precise,":[28],"constrained":[29],"motions":[30],"required":[31],"for":[32,112],"safety-critical":[33],"where":[35],"small":[36],"errors":[37],"can":[38],"cause":[39],"catastrophic":[40],"failures.":[41],"We":[42,96,130],"propose":[43],"model-assisted":[45],"reinforcement":[46],"learning":[47,115],"(RL)":[48],"framework":[49],"that":[50,98],"combines":[51],"both":[52],"perspectives":[53],"in":[54,134],"three":[55],"steps:":[56],"(1)":[57],"generate":[58],"safe":[60,83],"reference":[61,84],"trajectory":[62],"using":[63],"simplified":[64],"models;":[65],"(2)":[66],"train":[67],"privileged":[69],"teacher":[70,90],"policy":[71],"guided":[72],"by":[73],"control":[75],"Lyapunov":[76],"function":[77],"(CLF)":[78],"reward":[79],"built":[80],"around":[81],"trajectory;":[85],"and":[86,117,136],"(3)":[87],"distill":[88],"into":[91],"vision-based":[93],"student":[94],"policy.":[95],"show":[97],"this":[99],"model-assistance":[100],"procedure":[101],"produces":[102],"physically":[103],"grounded":[104],"locomotion,":[105],"improving":[106],"sample":[107],"efficiency,":[108],"reducing":[109],"need":[111],"complex":[114],"curriculum,":[116],"achieving":[118],"smoother":[119],"behavior":[121],"alongside":[122],"stepping":[123],"stone":[124],"performance":[125],"comparable":[126],"baselines.":[129],"validate":[131],"our":[132],"approach":[133],"simulation":[135],"demonstrate":[137],"successful":[138],"deployment":[139],"on":[140],"Unitree":[142],"G1":[143],"humanoid":[144],"robot":[145],"navigating":[146],"footholds":[148],"with":[149],"lateral":[150],"constraints.":[151]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-11T00:00:00"}
