For humanoid robots to work safely in the real world, they must be able to walk, balance, recover from unexpected pushes, and handle heavy objects while adapting to changing environments.
Teaching robots these skills is difficult because traditional methods often rely on either Model Predictive Control (MPC) or Reinforcement Learning (RL), each with its own limitations.
Researchers have now developed a new training approach that combines MPC with RL.
During training, MPC acts like a coach, providing guidance while the robot learns through trial and error. This helps the robot learn faster, more efficiently, and with greater stability than using RL alone.
To make large-scale training practical, the team also created a high-speed GPU-based solver. It can train thousands of simulated humanoid robots in parallel while using less memory, significantly speeding up the learning process.
The method was tested on tasks such as walking, push recovery, carrying a 10 kg payload, wearing a 10 kg vest, and pushing a 290 kg cart. It was also successfully validated on the real Themis V2 humanoid robot.
Research Paper: Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation (arXiv, June 2026)