Preprint
Oct 2026
Continue, Abort, or Fall: Viability-Aware Policy Selection (VAPS) for Safe Humanoid Acrobatics
Dynamic humanoid motions such as flips risk hardware damage due to suboptimal policies, disturbances or sim-to-real gaps. A motion tracking policy offers no way out once the maneuver leaves its reference, and a backup policy needs to take over to protect the hardware for a minimum-damage landing. Which backup to use ma...
Si-Wei Ju, Lu Liu, Jan Peters et al.
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