Quadruped Locomotion

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11 papers in the last four weeks, up 267% on the four weeks before. 0.1% of all new papers.

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Learning Gait-Aware Quadruped Locomotion with Temporal Logic Specifications
Jul 1, 2026Merve Atasever, Cagan Bakirci, Alfredo Reina Corona +2Reinforcement Learning Robot Skill Learning
University of Southern California, Los Angeles, California, USA
Learning Locomotion on Discrete Terrain via Minimal Proximity Sensing
Jun 30, 2026Jiale Fan, Connor Flynn, Tianao Xu +4Terrain-Aware Robot Locomotion Robot Locomotion
All authors are with the Robotic Systems Lab, ETH Zurich.
KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability
Jun 29, 2026Luca Rossini, Arturo Laurenzi, Francesco Ruscelli +8Bimanual Robotic Manipulation Robot Locomotion
Humanoids and Human Centered Mechatronics, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genova, Italy · Advanced Robotics Facility, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genova, Italy
CacheMPC: Certified Cached Model Predictive Control for Quadruped Locomotion
Jun 26, 2026Nimesh Khandelwal, Mehul Anand, Shakti S. Gupta +1Model Predictive Control Quadruped Locomotion
Dept. of Mech. Engg. IIT Kanpur Kanpur, India · Dept. of Mat. Sci. IIT Roorkee Roorkee, Uttarakhand · Dept. of Aerospace Engg. IIT Kanpur Kanpur, India
Unleashing Infinite Motion: Scaling Expressive Quadrupedal Motion via Generative Video Priors
Jun 26, 2026Youzhi Liu, Li Gao, Yifei Qian +3Synthetic Data Generation for Robotics Robot Motion Generation
Amap, Alibaba Group
Racing a Wheeled Quadruped: Active Load Transfer Mitigation via Model Predictive Control
Jun 24, 2026Marla Eisman, Brian Lam, Samuel Sonnino +1Autonomous Racing Model Predictive Control
1) University of California, Berkeley · 2) Politecnico di Milano, Italy
StairMaster: Learning to Conquer Risky Hollow Stairs for Agile Quadrupedal Robots
Jun 24, 2026Xincheng Tang, Youhan Xie, Zhengjie Shu +5Sim-to-Real Transfer Terrain-Aware Robot Locomotion
Shanghai Jiao Tong University
WaveForward: An Omnidirectional Passive Wheeled Quadruped Robot with Casters
Jun 24, 2026Chuanlin Zhao, Qifeng Zheng, Shuhan Wang +3Robot Locomotion RL for Legged Locomotion
State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Learning Perceptive Platform Adaptive Locomotion Controllers for Quadrupedal Robots
Jun 23, 2026David Rytz, Kim Tien Ly, Ioannis HavoutisRobot Skill Learning Cross-Embodiment Robot Learning
Dynamic Robot Systems, Oxford Robotics Institute, University of Oxford
SlipSense: Multimodal Sensing for Online Slip Detection in Legged Robots
Jun 23, 2026Iris Szu-Yao Liu, Chien Chern Cheah, Meng Yee Michael ChuahTactile Sensing Robotic Tactile Sensing
School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore · Institute for Infocomm Research, Agency for Science Technology and Research, Singapore
SWAP: Symmetric Equivariant World-Model for Agile Robot Parkour
Jun 18, 2026Kaixin Lan, Ze Wang, Hongyi Li +6World Models for Robotics Equivariant Neural Networks
Center for X-Mechanics, Zhejiang University, Hangzhou, China · Mirrorme Technology Co., Ltd. Shanghai, China · ZJU-Hangzhou Global Scientific and Technology Innovation Center, Hangzhou, China
ForEnt: A Multi-Modal Dataset for Characterizing Quadruped Robot Entrapments in Forest Environments
Jun 18, 2026Natapat Kirdwichai, Danesh TaraporeRobotic Data Collection Robotics
Faculty of Engineering and Physical Sciences, University of Southampton, United Kingdom
ZiMPedance: Impedance-Aware ZMP Modeling and Control for Payload Carrying with Quadruped Robots
Jun 17, 2026Giovanni B. Dessy, Lorenzo Amatucci, Victor Barasuol +1Robotic Control Feedback Control
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT).
LoComposition: Terrain-Adaptive Energy-Efficient Quadruped Locomotion without Gait Priors
Jun 14, 2026Loukas Kordos, Leonard T. Franz, Simon Rappenecker +4Legged Robotics RL for Robotics
Technical University of Munich. · University of Tübingen. · Hertie Institute for Clinical Brain Research & Center for Integrative Neuroscience. +1
Kine2Go: Kinematic dataset for the Unitree Go2 robot with diverse gaits and motions
Jun 12, 2026Władysław Pałucki, Paweł Siwak, Krzysztof Ciebiera +1Robotic Data Collection Synthetic Data Generation for Robotics
University of Warsaw
Locomotion analysis of a quadruped interacting with the lunar granular surface
Jun 9, 2026Yash J VyasRobotics Simulation Gait Analysis
Department of Industrial Engineering, University of Padua
QuadVerse: An Integrated Framework Aligning Visual-Physical Reality for Quadruped Simulation
Jun 5, 2026Yuxiang Chen, Yuanhao Wang, Ziheng Zhang +6Robotics Simulation Sim-to-Real Transfer
1Nanjing University · 2BUPT · 3DEXMAL +1
High-Load-Density Electro-Permanent Magnetic Foot with Controllable Adhesion for Quadruped Wall-Climbing Robots
May 29, 2026An Li, Bo Tao, I-Ming Chen +1Robot Locomotion Quadruped Locomotion
School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore · School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan430074, China
S-Cheetah: A Novel Quadrupedal Robot with a 3-DOF Active Spine Learning Agile Locomotion
May 27, 2026Zimu Li, Weibang BaiRobotic Control RL for Legged Locomotion
School of Information Science and Technology, ShanghaiTech University, Shanghai 201210, China
Learning to Balance Motor Thermal Safety and Quadrupedal Locomotion Performance with Residual Policy
May 26, 2026Yuhang Wan, Weixian Lin, Letian Qian +5RL for Legged Locomotion Residual Policy Learning
School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China
Towards Low-Gravity Planetary Exploration using Reinforcement Learning for Walking, Jumping, and In-flight Attitude Control
May 23, 2026Jørgen Anker Olsen, Kostas AlexisRobotic Control Space Robotics
The authors are with the Autonomous Robots Lab, NTNU, O.S. Bragstads Plass 2D, 7034, Trondheim, Norway.
Energy-Efficient Quadruped Locomotion with Compliant Feet
May 14, 2026Pramod Pal, Shishir Kolathaya, Ashitava GhosalLegged Robotics Energy-Efficient Robot Locomotion
Indian Institute of Science Bangalore India · Department of Mechanical Engineering, Indian Institute of Science, Bangalore, Karnataka, India · Robert Bosch Centre for Cyber Physical Systems Bangalore India +3
Robot Squid Game: Quadrupedal Locomotion for Traversing Narrow Tunnels
May 13, 2026Amir Hossain Raj, Dibyendu Das, Xuesu XiaoLegged Robotics RL for Legged Locomotion
Department of Computer Science, George Mason University
Neuromorphic Reinforcement Learning for Quadruped Locomotion Control on Uneven Terrain
May 10, 2026Zhuangyu Han, Abhronil SenguptaEquilibrium Propagation Terrain-Aware Robot Locomotion
School of Electrical Engineering and Computer Science Penn State University University Park, PA 16802
Constraint-Aware Diffusion Priors for High-Fidelity and Versatile Quadruped Locomotion
May 9, 2026Jianhui Chen, Ruixin Zhan, Liu Liu +2Sim-to-Real Transfer Constrained RL
Amap, Alibaba Group
Evaluation of an Actuated Spine in Agile Quadruped Locomotion
May 8, 2026Nico Bohlinger, Piotr Kicki, Davide Tateo +2Quadruped Locomotion
Department of Computer Science, Technical University of Darmstadt, 64289 Darmstadt, Germany · IDEAS Research Institute, 00-060 Warsaw, Poland · Institute of Robotics and Machine Intelligence, Poznan University of Technology, 60-965 Poznan, Poland
On the Emergence of Pendular Structure in Multi-Contact Locomotion
May 7, 2026Lingxue Lyu, Zihui LiuLegged Robotics Trajectory Optimization
School of Engineering and Applied Science, University of Pennsylvania, Philadelphia, PA 19104, USA · Department of Aeronautics & Astronautics, Stanford University, Stanford, CA 94305, USA
Dynamics Aware Quadrupedal Locomotion via Intrinsic Dynamics Head
May 2, 2026Aman Arora, Nalini RathaRobot Dynamics Learning RL for Legged Locomotion
Department of Computer Science, University at Buffalo, The State University of New York, Buffalo, USA
HiPAN: Hierarchical Posture-Adaptive Navigation for Quadruped Robots in Unstructured 3D Environments
Apr 29, 2026Jeil Jeong, Minsung Yoon, Seokryun Choi +3Robot Navigation Vision-Based Robot Control
School of Computing, KAIST, South Korea.
Quadruped Parkour Learning: Sparsely Gated Mixture of Experts with Visual Input
Apr 21, 2026Michael Ziegltrum, Jianhao Jiao, Tianhu Peng +2Robot Policy Learning Sparse Mixture-of-Experts
Robot Perception and Learning Lab, Intelligent Robotics, Department of Computer Science, University College London, Gower Street, WC1E 6BT, London, UK.

Jul 1, 2026, cs.ROJ/K move · Enter open · S save

Learning Gait-Aware Quadruped Locomotion with Temporal Logic Specifications

Merve Atasever, Cagan Bakirci, Alfredo Reina Corona, Keyan Azbijari+1

University of Southern California, Los Angeles, California, USA

Reinforcement Learning Robot Skill Learning RL for Legged Locomotion Policy Learning Reward Design for RL Quadruped Locomotion

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Reinforcement learning (RL) for quadruped locomotion commonly depends on fixed, hand-crafted, and Markovian reward functions that limit both interpretability of learned policies and lack explicit control over gait behaviors. We introduce a framework where distinct gaits are specified using parameterized constraints expressed in Signal Temporal Logic (STL). These include safety bounds, gait synchronization constraints, command tracking, and actuation bounds. From these specifications, we develop a reward shaping mechanism that provides learning agents a dense, continuous reward landscape that encodes desired behavior. We define parametric STL templates for three speed regimes (walking-trot, trot, bound), calibrate their parameters from reference rollouts, and compute rewards from using smooth approximations of STL robustness over the rollouts. The generated rewards can be used to provide shaped gradients compatible with Proximal Policy Optimization (PPO). We instantiate the approach on Google's Barkour quadruped robot in MuJoCo XLA (MJX). We use parallelization within the simulator to improve training speeds and use domain randomization to robustify learned policies. We show that compared to a baseline of hand-crafted rewards, the STL-shaped rewards yield tighter velocity tracking and more stable training. Videos can be found on our project website: https://stl-locomotion.github.io/.

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