Learning Getting-Up Policies for Real-World Humanoid Robots
Xialin He, Runpei Dong, Zixuan Chen, Saurabh Gupta · 2025
Equal contributions.robust to variations in initial configuration and terrains.We find these innovations enable a real-world G1 humanoid robot to get up from two main situations that we considered: a) lying face up and b) lying face down, both tested on flat, deformable, slippery surfaces and slopes (e.g., sloppy grass and snowfield).This is one of the first successful demonstrations of learned getting-up policies for human-sized humanoid robots in the real world.