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arXiv · 2509.18046

HuMam: Humanoid Motion Control via End-to-End Deep Reinforcement Learning with Mamba

Yinuo Wang·Yuanyang Qi·Jinzhao Zhou·Pengxiang Meng·Xiaowen Tao
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Abstract

End-to-end reinforcement learning (RL) for humanoid locomotion is appealing for its compact perception-action mapping, yet practical policies often suffer from training instability, inefficient feature fusion, and high actuation cost. We present HuMam, a state-centric end-to-end RL framework that employs a single-layer Mamba encoder to fuse robot-centric states with oriented footstep targets and a continuous phase clock. The policy outputs joint position targets tracked by a low-level PD loop and is optimized with PPO. A concise six-term reward balances contact quality, swing smoothness, foot placement, posture, and body stability while implicitly promoting energy saving. On the JVRC-1 humanoid in mc-mujoco, HuMam consistently improves learning efficiency, training stability, and overall task performance over a strong feedforward baseline, while reducing power consumption and torque peaks. To our knowledge, this is the first end-to-end humanoid RL controller that adopts Mamba as the fusion backbone, demonstrating tangible gains in efficiency, stability, and control economy.

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Yinuo Wang, Yuanyang Qi, Jinzhao Zhou, Pengxiang Meng, Xiaowen Tao. 2025-09-22. HuMam: Humanoid Motion Control via End-to-End Deep Reinforcement Learning with Mamba. https://arxiv.org/abs/2509.18046

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