ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion

arXiv:2607.03454v1 Announce Type: new Abstract: In this paper, we propose Adversarial Dynamics Priors (ADP) for perturbation-resilient humanoid locomotion control. Existing motion prior-based methods induce natural motion styles by imitating kinematic motion features, but they do not directly regularize dynamics features, such as CoM motion, centroidal momentum, contact forces, and contact states. To address this limitation, we replace kinematic motion-style feature with selected dynamics featur...