Ayonga Hereid

Model-Informed Safe Reinforcement Learning for Bipedal Locomotion via Step-to-Step Prediction

Humanoid robots promise versatile mobility in cluttered, human-centric environments, but real deployment demands principled safety. Classical model-based gait generators yield interpretable motions but often lack the robustness and adaptability of modern reinforcement learning (RL) based approaches. We propose a model-...