Learning High-Speed Sprinting and Aggressive Cornering on a Full-Scale Humanoid
Overview
This paper presents a learning-based framework that enables a full-scale bipedal humanoid to sprint at over 7 m/s with motion-prior-guided gait and perform aggressive cornering at high speed with a pronounced trunk lean of up to 25°. The framework addresses challenges like high-frequency yaw-rate oscillations and skill-specific reward design through causal multi-head attention and skill-conditioned discriminators, achieving stable high-speed sprinting and aggressive cornering in both simulation and real-robot deployment.
From arXiv Robotics — research abstracts
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
No current evidence-backed claims. Missing information remains not reported.
Evidence dependency changes (2)
- 2026-10-30T23:07:09.964Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
- 2026-10-30T23:06:49.068Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
Report timeline
Follow attributed reports and material updates.
- arXiv Robotics — research abstractsSignalPush the Limit: Learning High-Speed Sprinting and Aggressive Cornering on a Full-Scale Humanoid
This paper presents a learning-based framework that enables a full-scale bipedal humanoid to sprint at over 7 m/s with motion-prior-guided gait and perform aggressive cornering at high speed with a pronounced trunk lean of up to 25°. The framework addresses challenges like high-frequency yaw-rate oscillations and skill-specific reward design through causal multi-head attention and skill-conditioned discriminators, achieving stable high-speed sprinting and aggressive cornering in both simulation and real-robot deployment.
Timezone · UTC
Article dates follow your selected timezone. Briefing editions use Hong Kong time (UTC+8).