# LearningHumanoidWalking: Clock-conditioned reinforcement learning for humanoid walking

- Source: Guyuehome
- Published: 2026-10-17T15:29:00.000Z
- RoboHot: https://robohot.news/en/items/d9l8rg7h8ulsrifjccorys3jn
- Original: https://www.guyuehome.com/detail?id=2104830758905475074

## Summary

LearningHumanoidWalking uses a clock-conditioned reinforcement learning method with footstep planning for humanoid walking, and explicitly models actuator back-EMF. The official weights completed a 200-step deployment validation in MuJoCo, with pelvis height remaining stable throughout.