[KongchangAI]
Unverified50% confidenceFactExact time

After incorporating flat sole contact and ankle limit avoidance into the reward, the policy is more inclined to complete recovery using reasonable support methods.

1
Sources
50%
Confidence
Long-term
Relevance
10/17/2026
First Seen

Sources

Training Whole-Body Recovery Policies for Humanoid Robots: From Reward Design to DC Motor Modeling
redditr/reinforcementlearning10/17/2026

Related Entities

Flat Foot ContactconceptAnkle Joint Limit Avoidanceconcept

Related Claims

UnverifiedThe revised reward function is designed around pelvis height, torso orientation, posture, flat foot contact, motion smoothness, and avoidance of ankle joint limits.77% similar

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