@article{traversingnarrowpathsatwostagereinforcem,
  title = {Traversing Narrow Paths: A Two-Stage Reinforcement Learning Framework for Robust and Safe Humanoid Walking},
  author = {TianChen Huang and Runchen Xu and Yu Wang and Wei Gao and Shiwu Zhang},
  year = {2025},
  eprint = {2508.20661},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2508.20661},
}