No More Marching: Learning Humanoid Locomotion for Short-Range SE(2) Targets

arXiv:2508.14098v2 Announce Type: replace-cross Abstract: Humanoids operating in real-world workspaces must frequently execute task-driven, short-range movements to SE(2) target poses. To be practical, these transitions must be fast, robust, and energy efficient. While learning-based locomotion has...