# Learning Humanoid Robot Running Motions with Symmetry Incentive through Proximal Policy Optimization

> Research article (Journal of Intelligent & Robotic Systems, 2021) · cited 32× · AI/ML

**Wikidata**: [openalex:W3167879406](https://www.wikidata.org/wiki/openalex:W3167879406)  
**Source**: https://4ort.xyz/entity/learning-humanoid-robot-running-motions-with-symmetry-incentive-through-proximal-policy-optimization