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Smoothness as a Constraint for Stable Humanoid Locomotion

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Embodied AI systems, particularly humanoid robots deployed in real world scenarios require whole-body control policies that are both task-responsive and physically smooth. However, smoothness is not uniform across the body: lower body must remain sufficiently reactive, while the upper body must be tightly regulated to preserve stability. Existing reinforcement learning approaches typically impose smoothness through auxiliary terms in the reward function, which compete with task objectives, treating the body as uniform and provide no direct control over the physical quantities responsible for s

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