Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds

作者：Min Dai, William D. Compton, Junheng Li, Lizhi Yang, Aaron D. Ames · 单位：the Department, of Mechanical and Civil Engineering, California Institute of Technology, of Computing and Mathematical Sciences, California Institute of Technology · 会议/期刊：arXiv preprint · 方向：运动控制 · 发布日期：2026-01