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<!DOCTYPE html>
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content="HiFAR: Multi-Stage Curriculum Learning for High-Dynamics Humanoid Fall Recovery">
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<h1 class="title is-1 publication-title">HiFAR: Multi-Stage Curriculum Learning for High-Dynamics Humanoid Fall Recovery</h1>
<div class="is-size-4 publication-authors">
<span class="author-block">
<a>Penghui Chen</a><sup>1</sup> </span>
<span class="author-block">
<a>Yushi Wang</a><sup>1</sup> </span>
<span class="author-block">
<a>Changsheng Luo</a><sup>1</sup>
</span>
<span class="author-block">
<a>Wenhan Cai</a><sup>2</sup>
</span>
<span class="author-block">
<a>Mingguo Zhao</a><sup>1</sup>
</span>
</div>
<div class="column has-text-centered">
<p style="display: inline-block; vertical-align: top;"><sup>1</sup></p>
<a href="https://www.tsinghua.edu.cn/">
<img src="./static/images/tsinghua.svg" class="interpolation-image" width="30%" />
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<p style="display: inline-block; vertical-align: top;"><sup>2</sup></p>
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IROS 2025
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<h2 class="title is-2">Abstract</h2>
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<p>
Humanoid robots encounter considerable difficulties in autonomously recovering from falls, especially within dynamic and unstructured environments. Conventional control methodologies are often inadequate in addressing the complexities associated with high-dimensional dynamics and the contact-rich nature of fall recovery. Meanwhile, reinforcement learning techniques are hindered by issues related to sparse rewards, intricate collision scenarios, and discrepancies between simulation and real-world applications.
</p>
<p>
In this study, we introduce a multi-stage curriculum learning framework, termed HiFAR. This framework employs a staged learning approach that progressively incorporates increasingly complex and high-dimensional recovery tasks, thereby facilitating the robot's acquisition of efficient and stable fall recovery strategies. Furthermore, it enables the robot to adapt its policy to effectively manage real-world fall incidents. We assess the efficacy of the proposed method using a real humanoid robot, showcasing its capability to autonomously recover from a diverse range of falls with high success rates, rapid recovery times, robustness, and generalization.
</p>
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<h2 class="title is-2" style="text-align: center;">Experiments</h2>
<h3 class="title is-3" style="text-align: center;">Basic Fall Recovery</h3>
<div class="columns is-centered">
<div class="column is-full-width is-centered has-text-centered">
<video id="prone-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/1_prone.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Prone recovery
</p>
</div>
</div>
<div class="column is-full-width is-centered has-text-centered">
<video id="supine-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/1_supine.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Supine recovery
</p>
</div>
</div>
<div class="column is-full-width is-centered has-text-centered">
<video id="lateral-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/1_lateral.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Lateral recovery
</p>
</div>
</div>
</div>
<br />
<h3 class="title is-3" style="text-align: center;">Initial State</h3>
<div class="columns is-centered">
<div class="column is-full-width is-centered has-text-centered">
<video id="cross-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/2_crossed_leg.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Legs crossed
</p>
</div>
</div>
<div class="column is-full-width is-centered has-text-centered">
<video id="cross-video-2" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/2_crossed_leg2.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Legs crossed
</p>
</div>
</div>
<div class="column is-full-width is-centered has-text-centered">
<video id="r-lateral-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/2_lateral.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Random lateral
</p>
</div>
</div>
</div>
<div class="columns is-centered">
<div class="column is-full-width is-centered has-text-centered">
<video id="r-lateral-video-2" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/2_lateral2.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Random lateral
</p>
</div>
</div>
<div class="column is-full-width is-centered has-text-centered">
<video id="apart-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/2_leg.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Legs apart
</p>
</div>
</div>
<div class="column is-full-width is-centered has-text-centered">
<video id="sit-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/2_sit.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Sit
</p>
</div>
</div>
</div>
<br />
<h3 class="title is-3" style="text-align: center;">Terrain</h3>
<div class="columns is-centered">
<div class="column is-full-width is-centered has-text-centered">
<video id="slope-supine-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/3_slope_supine.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Slope supine
</p>
</div>
</div>
<div class="column is-full-width is-centered has-text-centered">
<video id="slope-prone-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/3_slope_prone.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Slope prone
</p>
</div>
</div>
<div class="column is-full-width is-centered has-text-centered">
<video id="ball-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/3_ball.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Ball under leg
</p>
</div>
</div>
</div>
<div class="columns is-centered">
<div class="column is-full-width is-centered has-text-centered">
<video id="ball-video-2" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/3_ball2.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Ball between legs
</p>
</div>
</div>
<div class="column is-full-width is-centered has-text-centered">
<video id="gravel-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/3_gravel.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Gravel
</p>
</div>
</div>
<div class="column is-full-width is-centered has-text-centered">
<video id="grass-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/3_grass.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Grass
</p>
</div>
</div>
</div>
<br />
<h3 class="title is-3" style="text-align: center;">Disturbance</h3>
<div class="columns is-centered">
<div class="column is-full-width is-centered has-text-centered">
<video id="load-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/4_load.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
5kg load
</p>
</div>
</div>
<div class="column is-full-width is-centered has-text-centered">
<video id="push-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/4_push.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Push
</p>
</div>
</div>
<div class="column is-full-width is-centered has-text-centered">
<video id="impact-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/4_kick.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Impact
</p>
</div>
</div>
</div>
<br />
<h3 class="title is-3" style="text-align: center;">Various Behavior</h3>
<!-- <div class="content is-two-third has-text-centered">
<p>
The robot uses ankle and hip strategies for minor perturbations and recovery steps for stronger pushes. If falling, it transitions to a safe posture before recovering.
<p>
<p>
After standing up, the robot stabilizes in a standard stance, enabling seamless transition into locomotion.
</p>
</div> -->
<div class="columns is-centered">
<div class="column is-full-width is-centered has-text-centered">
<video id="lateral-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/5_push_fall_recovery.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Push recovery and fall recovery
</p>
</div>
</div>
<div class="column is-full-width is-centered has-text-centered">
<video id="prone-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/5_supine_walk.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Walk after supine recovery
</p>
</div>
</div>
<div class="column is-full-width is-centered has-text-centered">
<video id="supine-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/5_prone_walk.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
Walk after prone recovery
</p>
</div>
</div>
</div>
<br />
<h3 class="title is-3" style="text-align: center;">High Success Rate</h3>
<!-- <div class="content is-two-third has-text-centered">
<p>
Our method achieves rapid and reliable fall recovery with a 100% success rate.
</p>
</div> -->
<div class="columns is-centered">
<div class="column is-full-width is-centered has-text-centered">
<video id="lateral-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/6_prone.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
20 successive prone fall recovery trials with 100% success rate
</p>
</div>
</div>
<div class="column is-full-width is-centered has-text-centered">
<video id="prone-video" autoplay controls muted loop playsinline width="100%"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;">
<source src="./static/videos/6_supine.mp4" type="video/mp4">
</video>
<div class="content is-two-third has-text-centered">
<p style="font-size: 1.2em; font-weight: bold;">
20 successive supine fall recovery trials with 100% success rate
</p>
</div>
</div>
</div>
</div>
</div>
</section>
<hr style="margin-left: 5%; margin-right: 5%; margin-top: 0.1rem; margin-bottom: 0.1rem;">
<section class="section" id="BibTeX">
<div class="container is-fluid">
<h2 class="title">BibTeX</h2>
<pre><code>@article{hifar2025,
title={HiFAR: Multi-Stage Curriculum Learning for High-Dynamics Humanoid Fall Recovery},
author={Chen, Penghui and Wang, Yushi and Luo, Changsheng and Cai, Wenhan and Zhao, Mingguo},
journal={arXiv preprint arXiv:2502.20061},
year={2025}
}</code></pre>
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