docs(05_Locomotion): 新增 Walk the PLANC 受约束落脚点物理引导 RL 论文笔记#346
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- 新增 Walk the PLANC (arXiv:2601.06286) 论文笔记，含方法详解与 mermaid 流程图 - 核心：用降阶 LIP 落脚规划器在线生成动力学一致的全状态参考轨迹， 再以控制李雅普诺夫函数(CLF)奖励把 RL 引导到物理可行参考上； 师生蒸馏(特权教师→无特权学生→PPO 抗噪微调)打通真机部署， Unitree G1 上踏脚石/稀疏落脚点敏捷精准行走，对未见石块深度零样本泛化 - 同步 PROGRESS.md(#197 标记已总结)、progress.json、_data/papers.json、 DAILY_SUMMARY_LOG.md（更新轮转指针 → 06_Manipulation） Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01BmHsunRuFMgffK3Yjh55SM
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概述
每日论文总结任务推进至 05_Locomotion（行走运动） 模块，新增 Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds（arXiv:2601.06286，Caltech AMBER Lab）论文笔记，优先推进了该模块最新发表的未总结论文（PROGRESS #197）。
主要改动
papers/05_Locomotion/Walk_the_PLANC__.../Walk_the_PLANC__....mdpapers/PROGRESS.md：docs(Home): 按 awesome 列表顺序调整主页分类模块 #197 标记为「✅ 已总结」并补充笔记链接papers/DAILY_SUMMARY_LOG.md：追加 2026-06-30 日志，轮转指针指向06_Manipulationprogress.json：更新module_rotation/last_summary_*并追加 log 条目_data/papers.json：经scripts/prepare_pages.py重新生成索引论文要点
用一个降阶 LIP 落脚规划器在线生成「动力学一致」的全状态参考轨迹，再以控制李雅普诺夫函数（CLF）奖励把 RL 训练引导到该物理可行参考上；配合师生蒸馏（特权教师 → 无特权学生 → PPO 抗噪微调）打通真机部署。在踏脚石/稀疏落脚点等受约束地形上，Unitree G1（21 DoF）实现敏捷且精准的落脚，对未见石块深度零样本泛化，显著优于纯 model-free RL 基线（后者退化为原地站立）。
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