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simmediumlocomotionmetric · varies
HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion
Description
Humanoid robots, capable of assuming human roles in various workplaces, have become essential to embodied intelligence. However, as robots with complex physical structures, learning a control model that can operate robustly across diverse environments remains inherently challenging, particularly under the discrepancies between training and deployment environments. In this study, we propose HWC-Loco, a robust whole-body control algorithm tailored for humanoid locomotion tasks. By reformulating po