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Author

Aaron D. Ames

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2 papers indexed here

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Preprint Sep 2026

Learning Safe Humanoid Navigation from Reduced Order Models

Research in humanoid robotics has achieved rapid progress in locomotion, and recent results have pushed the boundary on autonomous navigation. We demonstrate that a standard single-stage RL navigation pipeline struggles to scale to multi-level and multi-story terrain, limited by the difficulty of complex humanoid terra...

William D. Compton, Zachary Olkin, Ryan M. Bena et al. · 0 citations
Preprint Sep 2026

Generate, Track, Improve: Perceptive Multi-Skill Humanoid Locomotion with RL-Fine-Tuned Motion Generators

General purpose humanoids require locomotion controllers that are multi-skill, perceptive, dynamic, and robust enough to go anywhere humans can. In this work, we present a two layer locomotion architecture: (1) a perceptive flow matching motion generator plans whole body trajectories from raw depth images while a (2) p...

Zachary Olkin, William D. Compton, Aaron D. Ames · 0 citations

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