Agile Locomotion

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18 papers in the last four weeks, against 1 the four weeks before. 0.2% of all new papers.

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  1. Hierarchical Reinforcement Learning for Collision-Free Locomotion of an Underactuated Biped

    Oct 5, 2026Jagannath Prasad Sahoo, Saurabh Kumar, Surya Prakash S. K. +3Agile Locomotion

    CAIR, Indian Institute of Technology Mandi, Mandi, India · SMME, Indian Institute of Technology Mandi, Mandi, India

  2. ReCo: Response-Consistent Locomotion with Policy-Aware MPC for Legged Manipulation

    Oct 1, 2026Kuankuan Sima, Yichao Gao, Chenxi Gu +2Agile LocomotionRobotic Manipulation Policies

    Department of Electrical and Computer Engineering, National University of Singapore, Singapore 119077, Singapore · Department of Mechanical Engineering, National University of Singapore, Singapore 119077, Singapore

  3. PROMO: Preference-conditioned Multi-Objective Reinforcement Learning for Quadrupedal Robots

    Oct 1, 2026Amr Mousa, Rifny Rachman, Neil Karavis +2Multi-Objective Reinforcement LearningAgile Locomotion

    The University of Manchester, United Kingdom · BAE Systems, United Kingdom · University of Warwick, United Kingdom

  4. Toward Humanoid Robots in Construction: A Teleoperation Feasibility Study

    Sep 30, 2026Parastoo Ali Pour, David R. Martin, Chang Min Hur +6TeleoperationHumanoid Robotics

    Department of Mechanical and Aerospace Engineering, University of California at Irvine, Irvine, CA 92697 USA · Department of Electrical Engineering and Computer Science, University of California at Irvine, Irvine, CA 92697 USA · Professional Master of Embedded and Cyber-physical Systems Program, University of California at Irvine, Irvine, CA 92697 USA

  5. LocoWM: High-Precision Locomotion through World-Model-Guided Residual Adaptation

    Sep 30, 2026Zijie Zhao, Shengqian Chen, Xiaoxu Wang +3Agile LocomotionLocomotion

    University of Chinese Academy of Sciences · Institute of Automation, Chinese Academy of Sciences · Beijing University of Posts and Telecommunications +1

  6. Multifunctional Locomotion Control of Multi-Jointed BURs with Swimming and gait Capabilities

    Sep 29, 2026Takumi Asada, Hideo Furuhashi, Kenta Tabata +2Underwater RobotsAgile Locomotion

    Utsunomiya University, 7-1-2 Yoto, Utsunomiya, Tochigi, 321-8585, Japan · Aichi Institute of Technology, 1247 Yachigusa, Yakusa, Toyota, Aichi, 470-0392, Japan

  7. Predictive Safety Curricula for Robust Legged Locomotion

    Sep 29, 2026Ivan Ovinnikov, Pascal Sutter, Christian Gehring +1Agile Locomotion

    ANYbotics AG Zürich, Switzerland

  8. Echo in the Steps: Learning Perceptive Humanoid Parkour with Gated Memory

    Sep 24, 2026Ming-Ju Lee, Zizhuo Wang, Shaoting Zhu +3Agile LocomotionTraversal

    Tsinghua University

  9. Learning Air-Ground Motion Control with Temporal Mode Switching and Cross-Terrain Tracking

    Sep 22, 2026Ruitian Pang, Mingrui Li, Xuanting Liu +10Cooperative Air CombatAgile Locomotion

    The State Key Laboratory of Industrial Control Technology, College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China. · Department of Dynamics and Control, Beihang University, Beijing 100191, China. · Harbin Institute of Technology, Harbin 150001, China. +1

  10. REDACT: Robust Perceptive Locomotion under Unseen Visual Corruption

    Sep 21, 2026Natapat Kirdwichai, Tobias Driskell-Poole, Andrei Sontea +3Robotic PerceptionAgile Locomotion

    The authors are with the Faculty of Engineering and Physical Sciences and the Faculty of Environmental and Life Sciences, University of Southampton, United Kingdom.

  11. Effects of Assistance Delay on Joint Mechanics and Energetics in Biological Torque Control of a Hip Exoskeleton

    Sep 21, 2026Jimin An, Ryan Lee, Jingshu Peng +2ExoskeletonTorque

    Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, 15213 USA

  12. FootQuery: Future-Touchdown-Guided Retrieval from Depth History for Perceptive Humanoid Locomotion

    Sep 18, 2026Tao Dong, Jia Yu, Yuxuan Fan +5Agile LocomotionFootprint

    Institute for AI Industry Research (AIR), Tsinghua University, Beijing, China. · University of Science and Technology Beijing, Beijing, China. · Nanyang Technological University, Singapore. +1

  13. Fingers as Legs: Learning Self-Supported Locomotion and Manipulation with an Anthropomorphic Hand

    Sep 15, 2026Amirhossein Kazemipour, Hehui Zheng, Robert KatzschmannRobotic HandsAgile Locomotion

    Soft Robotics Lab, ETH Zurich, Zurich, Switzerland

  14. Continual Learning for Traversability Prediction with Uncertainty-Aware Adaptation

    Sep 15, 2026Hojin Lee, Yunho Lee, Daniel A Duecker +1TraversabilityEgo-Trajectory Prediction

    Ulsan National Institute of Science and Technology, Ulsan, 44919, Republic of Korea · Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Germany

  15. LEAP: Learning Emergent Active Perception for Quadruped Navigation

    Sep 15, 2026Ü. Bora Gökbakan, Stéphane Caron, Philippe SouèresViewpoint-Dependent Active PerceptionAgile Locomotion

    WILLOW · Inria and DI ENS, PSL, Paris, France · ISIR +3

  16. JEPLO: Joint-Embedding Predictive Learning for LiDAR-Based Legged Locomotion

    Sep 14, 2026Qihao Yuan, Yixuan Qiu, Ziyu Cao +2Agile LocomotionRobotic Perception

    Faculty of Science and Engineering, University of Groningen, The Netherlands · Department of Electrical Engineering, Linköping University, Sweden

  17. Decentralized Evolution of Hexapod Gaits with Independent Leg Controllers

    Sep 14, 2026Gary B. Parker, John Asaro, Jim O'ConnorAgile LocomotionGait Dynamics

    Connecticut College, New London CT 06320-4125, USA

  18. Reflex-Informed Neuromuscular Reinforcement Learning for Muscle-Driven Locomotion

    Sep 11, 2026Jian Zhou, Xingyu Zhang, Rui Ma +3Agile LocomotionMusculoskeletal

    University of Leeds, Leeds, United Kingdom

  19. Actuator Dynamics Curricula for Narrow-Viability Tasks in Legged Robot Learning

    Sep 8, 2026Kousheek Chakraborty, Chandan K. Rajendra, Ayham Alharbat +1ActuatorAgile Locomotion

    Saxion University of Applied Sciences · University of Groningen · University of Twente

  20. SleepWalking: Privileged Representation Shaping for End-to-End Blind Locomotion in Legged Robots

    Aug 31, 2026Zheng Pan, Tenghui Wang, Peilin Li +5Agile LocomotionLegged Robots

    Northwestern Polytechnical University, Xi’an 710072, China · Shanghai Jiao Tong University, Shanghai 200240, China · Yunmu Intelligent Manufacturing Co., Ltd., Jiangsu 215400, China

  21. Spatiotemporal Agility: Time-Constrained Reinforcement Learning for Vision-Guided Dynamic Quadrupedal Interception

    Aug 7, 2026Yidong Zhu, Zibo Dai, Tongning Zhang +2Agile LocomotionLegged Robots

    Zhejiang University, Hangzhou, China · LimX Dynamics Technology Co., Ltd., Shenzhen, China

  22. Foundations of Reinforcement Learning and Control:Connections and New Perspectives

    Aug 3, 2026Claire Vernade, Onno Eberhard, Martha White +4Adaptive ControlSoft Actor-Critic

    University of Technology Nuremberg · Max Planck Institute for Intelligent Systems, Tübingen, Germany · University of Alberta and Alberta Machine Intelligence Institute (Amii) +2

  23. Bicycle Acrobatics with Reinforcement Learning

    Aug 1, 2026Shamel Fahmi, Arianna Ilvonen, Samuel Zapolsky +8Scalable Robot LearningAgile Locomotion

    1Robotics and AI Institute (RAI), Cambridge, MA, USA.

  24. Reinforcement Learning on Cost-Constrained Quadrupedal Hardware

    Jul 29, 2026Javier C. Weddington, Bence P. Ölveczky, Stephen A. BaccusAgile LocomotionSelf-Organization

    Neurosciences Interdepartmental Program, Stanford University, Stanford, CA 94305 USA · Department of Organismic and Evolutionary Biology, Harvard University, Cambridge, MA 02138 USA · Department of Neurobiology, Stanford University School of Medicine, Stanford, CA 94305 USA

  25. Adaptive Undulatory Locomotion of Snake-like Robots in Dynamic Viscous Environments via Deep Reinforcement Learning

    Jul 24, 2026Tsuyoshi Kimoto, Akio Yamano, Kohei Honda +1Agile LocomotionReinforcement Learning Control

    Osaka Metropolitan University, 1-1, Gakuen-cho, Naka-ku, Sakai, Osaka, Japan · Nagoya University, Chikusa-ku, Nagoya, Aichi, Japan

  26. Morphing MILR: Design and control of a cable-driven limbless robot with rolling joints for maneuvering in complex environments

    Jul 22, 2026Donoven Dortilus, Tianyu Wang, Galen Tunnicliffe +2Agile LocomotionReconfiguration

    Georgia Institute of Technology, Atlanta, GA 30332, USA

  27. Koopman DCM: Unstable Eigenfunctions as Data-driven Representations for Legged Balancing

    Jul 21, 2026Stéphane CaronKoopman OperatorAgile Locomotion

    Institute for Intelligent Systems and Robotics CNRS and Sorbonne University, Paris, France

  28. Agile perceptive multi-skill locomotion for quadrupedal robots in the wild

    Jul 15, 2026Jun-Gill Kang, Jaehyun Park, Tae-Gyu Song +3Agile LocomotionLegged Robots

    1Agency for Defense Development, Daejeon 34186, Republic of Korea · Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Republic of Korea · 3DIDEN Robotics, Seoul 04799, Republic of Korea +2

  29. GaitSpan: Growing Humanoid Locomotion from Walking to Running

    Jul 13, 2026Kwan-Yee Lin, Zilin Wang, Janelle J. Liu +1Gait DynamicsAgile Locomotion

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

  30. SKooP: Symmetric Koopman Predictions for Faster and More Generalizable Legged Robot Locomotion with Reinforcement Learning

    Jul 13, 2026Evelyn D'Elia, Weishu Zhan, Giulio Turrisi +5Agile LocomotionKoopman Operator

    Machine Learning and Optimisation, University of Manchester, M13 9PL Manchester, U.K. · Dynamic Legged Systems Lab, IIT, 16163 Genoa, Italy · Generative Bionics S.R.L, 16163 Genoa, Italy +3

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

    Jun 30, 2026Ethan Marot, Thomas Bi, Clemens Schwarke +3Full-Body Humanoid ControlAgile Locomotion

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

  32. Mixture-of-Experts RL for Fault-Tolerant Legged Locomotion

    Jun 24, 2026Giulio Turrisi, Ozan Pali, Luca Oneto +1Agile LocomotionLegged Robots

    Dynamic Legged Systems Laboratory, Istituto Italiano di Tecnologia (IIT), Genova, Italy. · Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi (DIBRIS), Universita di Genova, Genova, Italy

  33. Learning Perceptive Platform Adaptive Locomotion Controllers for Quadrupedal Robots

    Jun 23, 2026David Rytz, Kim Tien Ly, Ioannis HavoutisAgile LocomotionLegged Robots

    Dynamic Robot Systems, Oxford Robotics Institute, University of Oxford

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

    Jun 23, 2026Haidong Hou, Zhangguo Yu, Hengbo Qi +1Agile LocomotionLegged Robots

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

  35. CTS-MoE: Implicit Terrain Adaptation via Mixture-of-Experts for Perceptive Locomotion

    Jun 17, 2026Francisco Affonso, Matheus P. Angarola, Ana Luiza Mineiro +3Agile LocomotionTerrain

    University of Illinois Urbana-Champaign · University of São Paulo

  36. ExoTraj: A General Lower-limb Exoskeleton Assistance Policy for Complex Environments

    Jun 15, 2026Xiao-Yin Liu, Guotao Li, Long Sun +2ExoskeletonTorque

    The State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, China · The School of Artificial Intelligence, University of Chinese Academy of Sciences, China · The School of Automation and Intelligence, Beijing Jiaotong University, China +1

  37. TO-SoFiT: Topology Optimization of Hydraulic Soft Fish Tail Design for programmable undulating locomotion

    Jun 14, 2026A Padmaprabhan, Amal Shaji, Prabhat KumarSoft Pneumatic ActuatorsSoft Robotics

    Indian Institute of Technology Hyderabad Telangana, 502285, India

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

    Jun 9, 2026Haoxuan Han, Chen Chen, Linao Gong +6Agile LocomotionAutonomous Navigation

    Harbin Institute of Technology · Leju Robotics

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

    Jun 9, 2026Codrin Crismariu, Ryan K. CosnerAgile LocomotionScalable Robot Learning

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

  40. Rapid co-design of Buoyancy-assisted robots for Challenging Locomotion using Gaussian Evolutionary Specialists

    Jun 5, 2026Ankit Sinha, Nitish Sontakke, Dennis Hong +2Agile LocomotionCo-Design

    School of Interactive Computing, Georgia Institute of Technology, TSRB 85 5th St NW, Atlanta, GA - 30332, USA · Dept. of Mechanical and Aerospace Engineering, University of California, Los Angeles, 420 Westwood Plaza, CA 90095, USA · Robotic Systems Lab, ETH Zurich, Leonhardstrasse 21, 8092 Zurich, Switzerland

  41. Shield-Loco: Shielding Locomotion Policies with Predictive Safety Filtering

    Jun 5, 2026Aditya Shirwatkar, Sebastian Sanokowski, Shishir Kolathaya +2Safety FiltersAgile Locomotion

    Robert Bosch Center for Cyber Physical Systems, Indian Institute of Science, Bangalore, India · Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany · Department of Computer Science & Automation, Indian Institute of Science, Bangalore, India +2

  42. TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion

    Jun 4, 2026Peizhuo Li, Hongyi Li, Mingfeng Fan +9Agile LocomotionViewpoint-Dependent Active Perception

    MarmotLab, National University of Singapore · Center of X-Mechanics, Zhejiang University · South China University of Technology

  43. CoRe-MoE: Contrastive Reweighted Mixture of Experts for Multi-Terrain Humanoid Locomotion with Gait Adaptation

    Jun 3, 2026Kailun Huang, Zikang Xie, Yanzhe Xie +8Agile LocomotionGait Dynamics

    Hong Kong University of Science and Technology · Hong Kong University of Science and Technology (Guangzhou) · Guangdong University of Technology +3

  44. OLIVE: Online Low-Rank Incremental Learning for Efficient Adaptive Exoskeletons

    Jun 3, 2026Dong Liu, Yanxuan Yu, Ben Lengerich +2ExoskeletonAgile Locomotion

    University of California, Los Angeles Los Angeles, California, USA · Columbia University New York, New York, USA · University of Wisconsin-Madison Madison, Wisconsin, USA +1

  45. Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion

    May 30, 2026Shengcheng Fu, Yang Zhang, Zhanxiang Cao +4Agile LocomotionTerrain

    Tongji University, Shanghai, China · Shanghai Jiao Tong University, Shanghai, China · Shanghai Innovation Institute, Shanghai, China +1

  46. SSR: Scaling Surefooted and Symmetric Humanoid Traversal to the Open World

    May 29, 2026Ruiqi Yu, Yiwen Wang, Yuan Hao +2Agile LocomotionKinematic Priors

    Zhejiang University

  47. Extreme dynamic symmetry enables omnidirectional and multifunctional robots

    May 28, 2026Jiaxun Liu, Boxi Xia, Boyuan ChenAgile LocomotionRobot Systems

    Department of Mechanical Engineering and Materials Science, Duke University · Department of Electrical and Computer Engineering, Duke University · Department of Computer Science, Duke University

  48. Natural Locomotion: Principle and Method

    May 27, 2026Mirado Mortel, Luc Jaulin, Lionel Lapierre +1Agile LocomotionKinematic Chain

  49. Visualizing Latent Phase Structures in Locomotion Policies: A Multi-Environment Study with Temporal Feature Extension

    May 27, 2026Daisuke Yasui, Toshitaka Matuki, Hiroshi SatoAgile LocomotionLatent Motion

    Mathematics and Computer Science National Defense Academy of Japan Yokosuka, Japan

  50. S-Cheetah: A Novel Quadrupedal Robot with a 3-DOF Active Spine Learning Agile Locomotion

    May 27, 2026Zimu Li, Weibang BaiLegged RobotsAgile Locomotion

    School of Information Science and Technology, ShanghaiTech University, Shanghai 201210, China

  51. Learning to Balance Motor Thermal Safety and Quadrupedal Locomotion Performance with Residual Policy

    May 26, 2026Yuhang Wan, Weixian Lin, Letian Qian +5Agile LocomotionResidual Policy

    School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China

  52. Learning, locomotion, and navigation of soft synthetic snakes in three-dimensional, heterogeneous environments

    May 24, 2026Xiaotian Zhang, Ali Albazroun, Tixian Wang +3Agile LocomotionLocomotion

    Carl R. Woese Institute for Genomic Biology, University of Illinois Urbana–Champaign · Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology · Department of Mechanical Science and Engineering, University of Illinois Urbana–Champaign

  53. Bridging the Gap: Enabling Soft Actor Critic for High Performance Legged Locomotion

    May 24, 2026Gianluca Sabatini, Chenhao Li, Marco HutterProximal Policy OptimizationSoft Actor-Critic

    ETH Zurich, Switzerland

  54. MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots

    May 23, 2026Yusen Feng, Xiang Wang, Heyuan Yao +7Full-Body Humanoid ControlAgile Locomotion

    Peking University

  55. Polymander II: an amphibious salamander-inspired robot with contact and flow sensors

    May 23, 2026Qiyuan Fu, Sudong Lee, Andrea Grillo +4Underwater RobotsProprioception

    Biorobotics Laboratory, EPFL, 1015 Lausanne, Switzerland · CREATE Lab, EPFL, 1015 Lausanne, Switzerland · Innobridge Services S`arl, 1015 Lausanne, Switzerland

  56. Dreaming Smoothly and Sample Efficiently with Gradient Penalized Latent Dynamics

    May 21, 2026Romil V. Sonigra, P. R. KumarLatent DynamicsLatent World Models

    Texas A&M University · Department of Electrical and Computer Engineering, Texas A&M University, College Station, TX 77843

  57. Motion Design for Grasp-Based Dynamic Locomotion in Microgravity

    May 20, 2026Chaerim Moon, Joohyung Kim, Justin K. YimAgile LocomotionGravity

    Department of Mechanical Science and Engineering at the University of Illinois at Urbana-Champaign, USA.

  58. WiXus: A Wheeled-Legged Robot with Wire-Driven Environmental Utilizing to Integrate Mobility and Manipulation

    May 20, 2026Shintaro Inoue, Kento Kawaharazuka, Temma Suzuki +2Legged RobotsAgile Locomotion

    Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan

  59. Lamarckian Inheritance in Dynamic Environments: How Key Variables Affect Evolutionary Dynamics

    May 15, 2026K. Ege de Bruin, Kyrre Glette, Kai Olav EllefsenScalable Robot LearningAgile Locomotion

    Department of Informatics, University of Oslo, Norway · RITMO, University of Oslo, Norway

  60. Learning Dynamic Pick-and-Place for a Legged Manipulator

    May 15, 2026Moonkyu Jung, Jiseong Lee, Zhengmao He +8Agile LocomotionReal-World Manipulation Tasks

    Robotics and Artificial Intelligence Lab, KAIST, Daejeon, South Korea · Thrust of Robotics and Autonomous Systems, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China