Humanoid Robot Locomotion

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26 papers in the last four weeks, up 420% on the four weeks before. 0.3% of all new papers.

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  1. BRIDGE: An Open-Source Humanoid Platform via Morphology-Control Co-Design for Physical AI

    Sep 3, 2026Jianren Wang, Letian Qian, Zikai Wang +4Humanoid Robot LocomotionRobot Morphology-Control Co-Design

    1Carnegie Mellon University · 2Huazhong University of Science and Technology · 3JoyIn AI

  2. World-Model-Augmented Visual Locomotion for Humanoids on Foothold-Constrained Terrain

    Sep 2, 2026Yuxi Liu, Lijun Han, Ziming Wang +3Humanoid Robot LocomotionTerrain-Aware Robot Locomotion

    1D-Robotics · 2Beijing University of Posts and Telecommunications · 3Harbin Institute of Technology +1

  3. Learning Agile Perceptive Traversal of Sparse 3D Structures for Humanoids

    Aug 30, 2026Efe Ongan, Chong Zhang, Boyang Sun +3Humanoid Robot LocomotionRobotic Perception

    Robotic Systems Lab, ETH Zurich, Switzerland · ETH AI Center, ETH Zurich, Switzerland · Computer Vision and Geometry Group, ETH Zurich, Switzerland

  4. SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion

    Aug 27, 2026Pihai Sun, Gang Han, Jingkai Sun +17Humanoid Robot Locomotion3D Reconstruction

    1Artificial General Intelligence Institute, University of Science and Technology of China · 2X-Humanoid · 4The University of Hong Kong +5

  5. Whole-Body Planning for Humanoids Navigating Confined Spaces via Self-Collision Avoidance References

    Aug 10, 2026Carlos Gonzalez, Luis SentisConstrained Motion PlanningHumanoid Robot Locomotion

    Department of Aerospace Engineering and Engineering Mechanics, The University of Texas at Austin, TX 78712, USA.

  6. Light-Loco-Parkour: Versatile Perceptive Whole-Body Locomotion via Multi-Skill Distillation

    Aug 1, 2026Hongming Chen, Zhuoran Li, Hongxi Wang +9Humanoid Robot LocomotionRobot Skill Learning

    Light Origins · Light Origins robotics team Co-Lead

  7. Advances, challenges, and opportunities for legged robots

    Jul 31, 2026Jonas Frey, Matías Mattamala, Hae-Won Park +5Legged RoboticsHumanoid Robot Locomotion

    ETH Zurich, Zurich, Switzerland · Stanford University, Stanford, CA, USA · UC Berkeley, Berkeley, CA, USA +9

  8. Learning Reusable Hybrid Motion Priors for Humanoid Locomotion from Motion Imitation

    Jul 27, 2026Valerio Belli, Valerio Modugno, Enrico Mingo Hoffman +1RL for RoboticsLatent Action Learning

    UNIROMA, UCL · Sapienza University of Rome, Rome, Italy · University College London, London, UK +3

  9. When Is a Learned Command Adapter Worth It? Closed-Loop Identification and Counterfactual Auditing of Frozen Locomotion Policies

    Jul 23, 2026Zongtan LiCounterfactual EvaluationHumanoid Robot Locomotion

  10. Towards Miniature Humanoid Tele-Loco-Manipulation Using Virtual Reality and Reinforcement Learning

    Jul 22, 2026Nicolas Kosanovic, Jordan Dowdy, Jean Chagas VazHumanoid Loco-ManipulationHumanoid Robot Locomotion

    Department of Electrical and Computer Engineering, University of Louisville · Faculty of Electrical and Computer Engineering, University of Louisville, Louisville, KY, 40208, USA

  11. EgoHTR: Egocentric 4D Demonstrations of Human Terrain Traversal

    Jul 15, 2026Alex Brandes, Haig Conti Georges Sajelian, Manthan Patel +11Humanoid Robot LocomotionMarkerless Motion Capture

    ETH Zurich · TU Munich · Stanford +1

  12. GaitSpan: Growing Humanoid Locomotion from Walking to Running

    Jul 13, 2026Kwan-Yee Lin, Zilin Wang, Janelle J. Liu +1Humanoid Robot LocomotionAgent Skill Learning

    University of Michigan · Skyline High School · University of Michigan, UC Berkeley

  13. Robust bipedal locomotion on flowable slopes via foot-driven terrain manipulation

    Jul 13, 2026Deniz Kerimoglu, Junnosuke Kamohara, Jiyeon Maeng +4Humanoid Robot LocomotionTerrain-Aware Robot Locomotion

    Department of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA · School of Physics, Georgia Institute of Technology, Atlanta, GA 30332, USA · Department of Electrical and Computer Engineering, Northeastern University, Boston, MA 02115, USA

  14. Learning Roller-Skating Motions of Humanoid Robots Based on Adversarial Motion Priors

    Jul 12, 2026Yunkang Cheng, Yutong Wu, Menghan Li +2Humanoid Robot LocomotionRL for Legged Locomotion

    Department of Automation, Tsinghua University, Beijing, China · Beijing Key Laboratory of Embodied Intelligence Systems, Beijing, China · Institute for Embodied Intelligence and Robotics, Tsinghua University, Beijing, China

  15. Physics-Guided Biomechanical Gait Adaptation for Humanoid Locomotion on Extreme Sloped Terrains

    Jul 8, 2026Xuanyu Chen, Mohan Liu, Dengchen Mei +6Humanoid Robot LocomotionReinforcement Learning

    Nanyang Technological University · A*STAR

  16. ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion

    Jul 3, 2026Seokju Lee, Jeongtae Lee, Jeonghyeok Lim +6Adversarial TrainingHumanoid Robot Locomotion

    Mechatronics, Systems and Control Lab (MSC Lab), Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Yuseong-gu, Daejeon 34141, Republic of Korea · Samsung Electronics, Future Robotics AI Group, Seoul, Republic of Korea · School of Electrical Engineering, Hanyang University, Ansan 15588, Republic of Korea +1

  17. Reinforcement Learning-Based Control for an Inline Skating Humanoid Robot

    Jun 30, 2026Ethan Marot, Thomas Bi, Clemens Schwarke +3Humanoid Robot LocomotionRobot Locomotion

    Institute for Dynamic Systems and Control, ETH Zurich, Switzerland. · Robotic Systems Lab, ETH Zurich, Switzerland

  18. Booster Lab: A Data-Centric Pipeline for Learning Deployable Humanoid Locomotion Policies

    Jun 26, 2026Penghui Chen, Tinglong Zheng, Yufeng Zhang +1Humanoid Robot LocomotionRobot Skill Learning

    Department of Automation, Tsinghua University, Beijing, China · Booster Robotics Technology Co., Ltd, Beijing, China · School of Mechanical and Electronic Control Engineering, Beijing Jiaotong University, Beijing, China

  19. SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction

    Jun 25, 2026Sirui Chen, Shibo Zhao, Zhen Wu +3Robotic ControlHumanoid Robot Locomotion

    Stanford, Amazon FAR United States · Amazon FAR United States · CMU, Amazon FAR United States

  20. WOLF-VLA: Whole-Body Humanoid Optimal Locomotion Framework for Vision-Language-Action Learning

    Jun 24, 2026Melya Boukheddimi, Omar Adjali, Daniel Sontag +1Robotic ControlHumanoid Robot Locomotion

    Robotics Innovation Center, DFKI, 28359 Bremen, Germany · Interactive Machine Learning, DFKI, 26129 Oldenburg, Germany · University of Oldenburg, 26129 Oldenburg, Germany +1

  21. DynaWM: Dynamics-Aware Distillation with World Model and Momentum Targets for Smooth Locomotion over Continuous Stairs

    Jun 23, 2026Haidong Hou, Zhangguo Yu, Hengbo Qi +1Humanoid Robot LocomotionTerrain-Aware Robot Locomotion

    School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China

  22. LP-NavOA: Integrated Local Navigation and Obstacle Avoidance for Humanoid Robots under Limited Perception

    Jun 22, 2026Yukun Luo, Jianjun Ma, Yuyao Min +3Humanoid Robot LocomotionRobot Navigation

    College of Intelligence Science and Technology National University of Defense Technology Changsha, China

  23. Comparative Study on Agility, Efficiency, and Impact Absorption of Bipedal Robots with Active Toes

    Jun 18, 2026Joong-Gil Kim, Wontae Ye, Geunwoo Cho +3Legged RoboticsHumanoid Robot Locomotion

    School of Electrical, Electronics and Communication Engineering, Korea University of Technology and Education, Cheonan, 31253, Korea · Artificial Intelligence and Robotics Institute, Korea Institute of Science and Technology, Seoul, 02792, South Korea · Robot Innovation Hub, WIRobotics Inc., Cheonan, 31253, Korea

  24. ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion

    Jun 15, 2026Bofan Lyu, Jindou Jia, Kuangji Zuo +7Robotic ControlHumanoid Robot Locomotion

    1MARS Lab, Nanyang Technological University

  25. A Spiking Neural Architecture for Coordinating Arm and Locomotor Control

    Jun 9, 2026Lea Steffen, Kathryn Simone, Graeme Damberger +3Humanoid Robot LocomotionHumanoid Robot Control

    Centre for Theoretical Neuroscience Dept. of Systems Design Engineering University of Waterloo Waterloo, Canada · Applied Brain Research Waterloo, Canada · Dept. of Nanotechnology Engineering University of Waterloo Waterloo, Canada +1

  26. GuideWalk: Learning Unified Autonomous Navigation and Locomotion for Humanoid Robots across Versatile Terrains

    Jun 9, 2026Haoxuan Han, Chen Chen, Linao Gong +6Humanoid Robot LocomotionRobot Navigation

    Harbin Institute of Technology · Leju Robotics

  27. MARCH: Model-Assisted Reinforcement Learning for the Perceptive Control of Humanoids over Sparse Footholds

    Jun 9, 2026Codrin Crismariu, Ryan K. CosnerHumanoid Robot LocomotionTerrain-Aware Robot Locomotion

    Department of Mechanical Engineering Tufts University, Medford, MA, United States

  28. CG-MuTra: Continuously-Gated Multi-Terrain Adaptive Recovery for Unified Humanoid Fall Recovery and Locomotion

    Jun 8, 2026Xiaoyu Xu, Zhiming Chen, Yuenan Zhao +2Humanoid Robot LocomotionRobot Failure Recovery

    School of Control Science and Engineering, Shandong University, Jinan, 250061, China · Key Laboratory of Machine Intelligence and System Control, Ministry of Education, China

  29. Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Tracking

    Jun 6, 2026Alessandro Montenegro, Shihao Li, Puze Liu +2Robot Trajectory TrackingHumanoid Robot Locomotion

    Politecnico di Milano · Tongji University · Technische Universität Darmstadt +2

  30. TACT-ful: Multi-Channel Terrain Affordance and Compliance Training for Payload-Robust Perceptive Humanoid Locomotion

    Jun 6, 2026Thanh Ly, Truong-Duy Dang, Chien Le +5Legged RoboticsHumanoid Robot Locomotion

    VinRobotics, Vietnam · Center for AI Research, VinUniversity, Vietnam · Intelligent Autonomous Systems, TU Darmstadt, Germany