T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion

Source: arXiv cs.RO·2026-09-01 12:00Publish time unverified

arXiv:2606.06944v2 Announce Type: replace Abstract: Achieving both anthropomorphic naturalness and rich motion diversity during terrain traversal remains a fundamental challenge in humanoid locomotion. Existing reinforcement learning approaches typically rely on fixed motion priors, limiting their adaptability to varying environments.