April 2026 monthly summary for OpenHUTB/nn focusing on humanoid stabilizer work and stability improvements. Key deliverables center on a cohesive set of stability and control enhancements for the humanoid stabilizer, along with robust input handling and ROS compatibility fixes. The work includes mapping torque to actuator control, IMU filtering, fall recovery improvements, adaptive foot-ground thresholds, and refined reset sequences to strengthen standing recovery and reduce falls, thereby increasing simulation fidelity and reliability in walking scenarios. The commits also address initialization and state reporting, using true_euler/true_imu representations to reduce misdetections and spurious resets. Overall, this iteration delivers higher stability, safer fall handling, and clearer state signaling, enabling more reliable testing and closer alignment with real hardware behavior.