{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/advancing-humanoid-locomotion-mastering","title":"Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning","arxiv_id":"2408.14472","date":"2024-08-26","proceeding":null,"authors":["Xinyang Gu","Yen-Jen Wang","Xiang Zhu","Chengming Shi","Yanjiang Guo","Yichen Liu","Jianyu Chen"],"abstract":"Humanoid robots, with their human-like skeletal structure, are especially suited for tasks in human-centric environments. However, this structure is accompanied by additional challenges in locomotion controller design, especially in complex real-world environments. As a result, existing humanoid robots are limited to relatively simple terrains, either with model-based control or model-free reinforcement learning. In this work, we introduce Denoising World Model Learning (DWL), an end-to-end reinforcement learning framework for humanoid locomotion control, which demonstrates the world's first humanoid robot to master real-world challenging terrains such as snowy and inclined land in the wild, up and down stairs, and extremely uneven terrains. All scenarios run the same learned neural network with zero-shot sim-to-real transfer, indicating the superior robustness and generalization capability of the proposed method.","url_abs":"https://arxiv.org/abs/2408.14472v1","url_pdf":"https://arxiv.org/pdf/2408.14472v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"advancing-humanoid-locomotion-mastering","repo_url":"https://github.com/roboterax/humanoid-gym","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"denoising","task_name":"Denoising"},{"task_slug":"reinforcement-learning","task_name":"Reinforcement Learning"},{"task_slug":"reinforcement-learning-2","task_name":"reinforcement-learning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=2408.14472","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2408.14472"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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