RL for Legged Locomotion

RL: Reinforcement Learning

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15 papers in the last four weeks, against 2 the four weeks before. 0.1% of all new papers.

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HuMBLE: Human Motion-Driven Behavior Learning for Embodied Locomotion
Oct 7, 2026Mike Zhang, Dongho Kang, Kevin Bergamin +19Humanoid Robot Locomotion RL for Legged Locomotion
RAI Institute, USA · Boston Dynamics, USA · Carnegie Mellon University, USA
QF3: Fast Flow RL with Filtered Q-Gradients
Oct 6, 2026Chung Min Kim, Brent Yi, David McAllister +7Robotic RL RL for Legged Locomotion
UC Berkeley · Amazon FAR
Hierarchical Reinforcement Learning for Collision-Free Locomotion of an Underactuated Biped
Oct 5, 2026Jagannath Prasad Sahoo, Saurabh Kumar, Surya Prakash S. K. +3Legged Robotics Hierarchical RL
CAIR, Indian Institute of Technology Mandi, Mandi, India · SMME, Indian Institute of Technology Mandi, Mandi, India
Transporting Unsecured Stacked Payloads with a Quadrupedal Robot via Multi-Objective Reinforcement Learning
Oct 5, 2026Nobuo Namura, Masayuki Hiromoto, Kento Uemura +2Multi-Objective Reinforcement Learning Robot Policy Adaptation
Fujitsu Limited, Kawasaki, Japan
Humanoid Rickshaw Pulling: Whole-Body Locomotion under Coupled Wheeled Loads
Oct 3, 2026Yangzhi Yang, Xiansheng Lin, Zhaoming Xie +1Humanoid Robot Control Humanoid Robot Locomotion
Legged AI Lab, Shanghai Innovation Institute
ReCo: Response-Consistent Locomotion with Policy-Aware MPC for Legged Manipulation
Oct 1, 2026Kuankuan Sima, Yichao Gao, Chenxi Gu +2Model Predictive Control RL for Legged Locomotion
Department of Electrical and Computer Engineering, National University of Singapore, Singapore 119077, Singapore · Department of Mechanical Engineering, National University of Singapore, Singapore 119077, Singapore
Locomotion-Grounded Humanoid Soccer: Task-Gated Reinforcement Learning of a Multi-Directional Kicking Library
Sep 30, 2026Abu Hanif Muhammad Syarubany, Jaehyun Jang, Hwanhee Kim +3Humanoid Robot Locomotion Robot Skill Learning
School of Electrical Engineering, KAIST, Daejeon, Republic of Korea
TERRA: Terrain-Aware Reconstruction, Retargeting and Control for Musculoskeletal Locomotion
Sep 29, 2026Merkourios Simos, Chengkun Li, Bianca Ziliotto +13D Reconstruction Motion Retargeting
EPFL
Predictive Safety Curricula for Robust Legged Locomotion
Sep 29, 2026Ivan Ovinnikov, Pascal Sutter, Christian Gehring +1Curriculum RL Robot Safety
ANYbotics AG Zürich, Switzerland
Passive-Dynamic-Walking-Inspired Dynamics Guidance for Energy-Efficient Humanoid Locomotion
Sep 28, 2026Hyeonjin Choi, Joongheon Kim, Daekyum KimHumanoid Robot Locomotion Reinforcement Learning
School of Mechanical Engineering, Korea University, Seoul 02841, Republic of Korea · School of Electrical Engineering, Korea University, Seoul 02841, Republic of Korea · School of Smart Mobility, Korea University, Seoul 02841, Republic of Korea
TactileStep: Sole Tactile Learning for Regulating Foot-Terrain Interaction in Humanoid Locomotion
Sep 24, 2026Zizhuo Wang, Ming-ju Lee, Shaoting Zhu +3Humanoid Robot Locomotion Terrain-Aware Robot Locomotion
Tsinghua University
ForgetMimic: Motion Unlearning for Reinforcement Learning Humanoid Control
Sep 23, 2026Xukun Luan, Zhongxiang Lei, Chen Gong +3Humanoid Robot Control RL for Legged Locomotion
Beijing Institute of Technology · University of Virginia · Shandong University +1
MimicAgent: Quadruped Skills via Prompt-to-Trajectory Generation
Sep 21, 2026Lucky Kant Nayak, Narayanan Palghat Parameswaran, Neehar Peri +1Reinforcement Learning Trajectory Generation
Carnegie Mellon University
GLAMDRING: Gait Learning And Morphology co-Design via Reinforcement LearnING of CPGs
Sep 16, 2026Amogh Joshi, Kaushik RoyRobot Morphology-Control Co-Design Robotics
Purdue University, West Lafayette, IN 47907, USA
JEPLO: Joint-Embedding Predictive Learning for LiDAR-Based Legged Locomotion
Sep 14, 2026Qihao Yuan, Yixuan Qiu, Ziyu Cao +2Joint-Embedding Predictive Architecture Terrain-Aware Robot Locomotion
Faculty of Science and Engineering, University of Groningen, The Netherlands · Department of Electrical Engineering, Linköping University, Sweden
Flow-Matched Motion Priors: Online Optimal-Transport Rewards for Imitation Learning
Sep 14, 2026Yilin Zou, Chenghua Liu, Chenglong Wu +1Imitation Learning RL for Legged Locomotion
School of Aerospace Engineering, Tsinghua University, Beijing 100084, China · Institute of Software, Chinese Academy of Sciences, Beijing, China
Dynamics-Informed Reinforcement Learning for Agile and Energy-Efficient Locomotion of a Monopedal Hopping Quadcopter
Sep 14, 2026Ruigang Chen, Qi Zhang, Zhicheng Zhong +3Energy-Efficient Robot Locomotion Robot Locomotion
Department of Mechanical Engineering and Robotics, Guangdong Technion - Israel Institute of Technology, Shantou, 515063, Guangdong, China. · Department of Mechanical Engineering, Technion-Israel Institute of Technology, Haifa, 3200003, Israel.
GM-Loco: Terrain-Adaptive Humanoid Locomotion on Granular Media
Sep 9, 2026Junnosuke Kamohara, Feiyang Wu, Andy Ningan Zong +4Humanoid Robot Locomotion Terrain-Aware Robot Locomotion
Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA 30332, USA · School of Physics, Georgia Institute of Technology, Atlanta, GA 30332, USA · Northeastern University, 360 Huntington Ave, Boston, MA 02115, USA
Actuator Dynamics Curricula for Narrow-Viability Tasks in Legged Robot Learning
Sep 8, 2026Kousheek Chakraborty, Chandan K. Rajendra, Ayham Alharbat +1Curriculum RL RL for Legged Locomotion
Saxion University of Applied Sciences · University of Groningen · University of Twente
SleepWalking: Privileged Representation Shaping for End-to-End Blind Locomotion in Legged Robots
Aug 31, 2026Zheng Pan, Tenghui Wang, Peilin Li +5Robot Policy Learning Partially Observable RL
Northwestern Polytechnical University, Xi’an 710072, China · Shanghai Jiao Tong University, Shanghai 200240, China · Yunmu Intelligent Manufacturing Co., Ltd., Jiangsu 215400, China
SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion
Aug 27, 2026Pihai Sun, Gang Han, Jingkai Sun +17Humanoid Robot Locomotion 3D Reconstruction
1Artificial General Intelligence Institute, University of Science and Technology of China · 2X-Humanoid · 4The University of Hong Kong +5
Learning Fault-Tolerant Locomotion with Adaptive Gait Timing
Aug 7, 2026Giovanbattista Gravina, Luca Rossini, Carlo Rizzardo +2Legged Robotics Robot Locomotion
Humanoids and Human-Centered Mechatronics Research Line, Italian Institute of Technology, Genoa 16163, Italy
Spatiotemporal Agility: Time-Constrained Reinforcement Learning for Vision-Guided Dynamic Quadrupedal Interception
Aug 7, 2026Yidong Zhu, Zibo Dai, Tongning Zhang +2RL for Legged Locomotion Vision-Based Robot Control
Zhejiang University, Hangzhou, China · LimX Dynamics Technology Co., Ltd., Shenzhen, China
Open-DiffLoco: Open-Source Differentiable Learning for Deployable Blind Quadruped Locomotion
Aug 3, 2026Martin OpatSim-to-Real Transfer RL for Legged Locomotion
University of Groningen, Netherlands
Rapid Embodiment Adaptation for Quadrupedal Locomotion
Aug 2, 2026Dichen Li, Bo Ai, Nico Bohlinger +3Robot Dynamics Identification Robot Policy Adaptation
UC San Diego · Stanford University · TU Darmstadt +2
Light-Loco-Parkour: Versatile Perceptive Whole-Body Locomotion via Multi-Skill Distillation
Aug 1, 2026Hongming Chen, Zhuoran Li, Hongxi Wang +9Humanoid Robot Locomotion Robot Skill Learning
Light Origins · Light Origins robotics team Co-Lead
Reinforcement Learning on Cost-Constrained Quadrupedal Hardware
Jul 29, 2026Javier C. Weddington, Bence P. Ölveczky, Stephen A. BaccusDynamical Systems Reinforcement Learning
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
WARL: Wrench-Augmented Reinforcement Learning for Task-Agnostic Learning in Legged Robots
Jul 27, 2026Keita Yoneda, Kento Kawaharazuka, Kei OkadaCurriculum RL RL Exploration
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. · AI Center, Graduate School of Information Science and Technology, The University of Tokyo, Japan.
The Open Ant: A Robot Platform for Reinforcement Learning Research
Jul 20, 2026Elena Sorina Lupu, Patrick Spieler, Khurram Javed +4Reinforcement Learning Robotics Simulation
Openmind Research Institute, Canada · Keen Technologies · Department of Computing Science, University of Alberta, Canada
Towards Torque-Driven Reinforcement Learning for Quadruped Locomotion
Jul 20, 2026Jordan Dowdy, Jean Chagas VazReinforcement Learning Terrain-Aware Robot Locomotion
Department of Electrical and Computer Engineering at the University of Louisville. · Faculty of Electrical and Computer Engineering, University of Louisville, Louisville, KY, 40208, USA.

Oct 7, 2026, cs.ROJ/K move · Enter open · S save

HuMBLE: Human Motion-Driven Behavior Learning for Embodied Locomotion

Mike Zhang, Dongho Kang, Kevin Bergamin, Nicola Burger+18

RAI Institute, USA · Boston Dynamics, USA · Carnegie Mellon University, USA

Humanoid Robot Locomotion RL for Legged Locomotion Robot Imitation Learning

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Despite recent advances in humanoid locomotion, controllers optimized for command tracking and robustness tend to produce mechanical gaits, whereas controllers tied to human motion data often fail to generalize to commands outside the data distribution. This work introduces a learning framework that balances these competing objectives to synthesize real-time steerable, robust, and biomimetic locomotion policies from human data. Using an in-house curated locomotion dataset covering diverse speeds and directions, we first learn a natural locomotion prior policy through a teacher-student distillation process. Specifically, we train a full-body reference-conditioned policy with Reinforcement Learning (RL), then distill it into a lightweight prior policy conditioned solely on proprioception and a planar torso-velocity steering command. Next, we fine-tune the prior policy with multi-task RL to expand command coverage and robustness beyond the data distribution, pairing a goal-conditioned task that tracks arbitrary commands with a reference-guided task that tracks the human data as an explicit style regularizer. We validate our framework on three humanoid robots: the Boston Dynamics Atlas R1, Atlas D1, and Unitree G1. Experimental results demonstrate robust performance across real-world scenarios, including direct user-controlled locomotion in indoor and outdoor environments, and integration as the locomotion layer within hierarchical control stacks. Benchmarks against Tabula Rasa RL policies trained without human data and ablation studies confirm that our framework yields a lightweight, deployable policy that reconstructs coordinated whole-body behavior from a steering command, retaining the human gait characteristics while remaining robust and fully steerable.

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Latest papers 96