Robotics: Science and Systems XXI

Learning Humanoid Standing-up Control across Diverse Postures

Tao Huang, Junli Ren, Huayi Wang, Zirui Wang, Qingwei Ben, Muning Wen, Xiao Chen, Jianan Li, Jiangmiao Pang

Abstract:

Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems, such as fall recovery. Existing approaches are either limited to simulations that overlook hardware constraints or rely on predefined ground-specific motion trajectories, failing to enable standing up across postures in realworld scenes. To bridge this gap, we present HoST (Humanoid Standing-up Control), a reinforcement learning framework that learns standing-up control from scratch, enabling robust sim-to-real transfer across diverse postures. HoST effectively learns posture-adaptive motions by leveraging a multi-critic architecture and curriculum-based training on diverse simulated terrains. To ensure successful real-world deployment, we constrain the motion with smoothness regularization and implicit motion speed bound to alleviate oscillatory and violent motions on physical hardware, respectively. After simulation-based training, the learned control policies are directly deployed on the Unitree G1 humanoid robot. Our experimental results demonstrate that the controllers achieve smooth, stable, and robust standing-up motions across a wide range of laboratory and outdoor environments (Fig. 1). Videos and code are available on [our project page](https://taohuang13.github.io/humanoid-standingup.github.io/).

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Bibtex:

  
@INPROCEEDINGS{HuangT-RSS-25, 
    AUTHOR    = {Tao Huang AND Junli Ren AND Huayi Wang AND Zirui Wang AND Qingwei Ben AND Muning Wen AND Xiao Chen AND Jianan Li AND Jiangmiao Pang}, 
    TITLE     = {{Learning Humanoid Standing-up Control across Diverse Postures}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2025}, 
    ADDRESS   = {LosAngeles, CA, USA}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2025.XXI.064} 
}