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simmediumroboticsmetric · varies
BAT: Balancing Agility and Stability via Online Policy Switching for Long-Horizon Whole-Body Humanoid Control
Description
Despite recent advances in control, reinforcement learning, and imitation learning, developing a unified framework that can achieve agile, precise, and robust whole-body behaviors, particularly in long-horizon tasks, remains challenging. Existing approaches typically follow two paradigms: coupled whole-body policies for global coordination and decoupled policies for modular precision. However, without a systematic method to integrate both, this trade-off between agility, robustness, and precisio