T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion
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. We propose Terrain-conditioned Generative Motion Priors (T-GMP), a module that captures a terrain-conditioned latent motion manifold from a few expert state-terra
Overview
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. We propose Terrain-conditioned Generative Motion Priors (T-GMP), a module that captures a terrain-conditioned latent motion manifold from a few expert state-terrain demonstrations. The learned priors enable smooth style transitions, facilitating a unified policy that adapts to terrain variations. We integrate T-GMP into an adversarial learning pipeline, where a discriminator dynamically modulates naturalness constraints conditioned on local terrain features, guiding the generation of versatile and human-like motions. We further introduce a Foothold Penalty to promote safe foot placement on challenging terrains. Experimental results demonstrate that T-GMP outperforms existing baselines in motion naturalness, motion diversity, and traversal success rates, while preserving physically coordinated motions.
Source
Originally published at arxiv.org.
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Source: https://arxiv.org/abs/2606.06944
