Author

Ge Qu

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Preprint Sep 2026

ResSafe: Learning Safety Filtering with Residual Reinforcement Learning for Humanoids

Safe control of humanoid robots remains challenging due to their high-dimensional dynamics, contact-rich interactions, and sensitivity to disturbances. Although reinforcement learning has enabled effective locomotion and motion tracking, learned policies can still generate unsafe actions that lead to instability or fal...

Ge Qu, Tong Zhang, Bike Zhang et al. · 0 citations