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simmediumhumanoidmetric · varies
HoRD: Robust Humanoid Control via History-Conditioned Reinforcement Learning and Online Distillation
Description
Humanoid robots can suffer significant performance drops under small changes in dynamics, task specifications, or environment setup. We propose HoRD, a two-stage learning framework for robust humanoid control under domain shift. First, we train a high-performance teacher policy via history-conditioned reinforcement learning, where the policy infers latent dynamics context from recent state--action trajectories to adapt online to diverse randomized dynamics. Second, we perform online distillation