RL for Legged Locomotion

RL: Reinforcement Learning

Follow this topic Ask about this topic

Momentum

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

Jul 13Week of Sep 28

Latest papers 96

All topics

T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion
Jun 5, 2026Junhong Guo, Hao Hu, Chen Chen +6Humanoid Robot Locomotion Robot Motion Generation
Harbin Institute of Technology · Leju Robotics
TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion
Jun 4, 2026Peizhuo Li, Hongyi Li, Mingfeng Fan +9Active Perception Humanoid Robot Locomotion
MarmotLab, National University of Singapore · Center of X-Mechanics, Zhejiang University · South China University of Technology
HORIZON: Recoverability-Governed Curriculum for Physical-Domain Scaling
Jun 3, 2026Chenhao Bai, Liqin Lu, Kaijun Wang +5Domain Randomization Curriculum RL
1Zhejiang University, State Key Lab of CAD & CG · 2Zhejiang University of Technology
CoRe-MoE: Contrastive Reweighted Mixture of Experts for Multi-Terrain Humanoid Locomotion with Gait Adaptation
Jun 3, 2026Kailun Huang, Zikang Xie, Yanzhe Xie +8Humanoid Robot Locomotion Mixture of Experts
Hong Kong University of Science and Technology · Hong Kong University of Science and Technology (Guangzhou) · Guangdong University of Technology +3
Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion
May 30, 2026Shengcheng Fu, Yang Zhang, Zhanxiang Cao +4Legged Robotics Humanoid Robot Locomotion
Tongji University, Shanghai, China · Shanghai Jiao Tong University, Shanghai, China · Shanghai Innovation Institute, Shanghai, China +1
Learning Terrain-Aware Whole-Body Control for Perceptive Legged Loco-Manipulation
May 29, 2026Sikai Guo, Yudong Zhong, Guoyang Zhao +3Legged Robotics Terrain-Aware Robot Locomotion
Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China
Visualizing Latent Phase Structures in Locomotion Policies: A Multi-Environment Study with Temporal Feature Extension
May 27, 2026Daisuke Yasui, Toshitaka Matuki, Hiroshi SatoTemporal Action Segmentation Robot Locomotion
Mathematics and Computer Science National Defense Academy of Japan Yokosuka, Japan
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
Bridging the Gap: Enabling Soft Actor Critic for High Performance Legged Locomotion
May 24, 2026Gianluca Sabatini, Chenhao Li, Marco HutterRL for Legged Locomotion Soft Actor-Critic
ETH Zurich, Switzerland
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.
ARC-RL: A Reinforcement Learning Playground Inspired by ARC Raiders
May 19, 2026Carlo Romeo, Andrew D. BagdanovRL Benchmarks Robotics Simulation
Media Integration and Communication Center – University of Florence
Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors
May 18, 2026Yidan Lu, Yichao Zhong, Liu Zhao +2Humanoid Robot Locomotion Robot Failure Recovery
The University of Hong Kong, Hong Kong SAR, China.
Terrain Consistent Reference-Guided RL for Humanoid Navigation Autonomy
May 15, 2026William D. Compton, Zachary Olkin, Aaron D. AmesHumanoid Robot Locomotion Reinforcement Learning
Department of Computing and Mathematical Sciences, California Institute of Technology, Pasadena, CA 91125
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
EFGCL: Learning Dynamic Motion through Spotting-Inspired External Force Guided Curriculum Learning
May 11, 2026Keita Yoneda, Kento Kawaharazuka, Kei OkadaReinforcement Learning Whole-Body Control
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
Explicit Stair Geometry Conditioning for Robust Humanoid Locomotion
May 11, 2026Jianguo Zhang, Wentai Xu, Shusheng Ye +5Humanoid Robot Locomotion Robot Locomotion
Shenzhen Institute of Artificial Intelligence and Robotics for Society. · Mohamed bin Zayed University of Artificial Intelligence (MBZUAI). · School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen.
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
Stability of Control Lyapunov Function Guided Reinforcement Learning
May 3, 2026Zachary Olkin, William D. Compton, Aaron D. AmesRL Control Lyapunov Stability
The authors are with the Department of Control and Dynamical Systems at the California Institute of Technology.
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
Unleashing the Agility of Wheeled-Legged Robots for High-Dynamic Reflexive Obstacle Evasion
Apr 26, 2026Yongen Zhao, Zihao Xu, Wenzhi Lu +4Hierarchical RL Robot Locomotion
Beijing Zhongguancun Academy, Beijing, China · School of Mechanical Engineering, Tianjin University, Tianjin, China · School of Computing, National University of Singapore, Singapore +1
QuietWalk: Physics-Informed Reinforcement Learning for Ground Reaction Force-Aware Humanoid Locomotion Under Diverse Footwear
Apr 26, 2026Hanze Hu, Luying Feng, Silu Chen +6Humanoid Robot Locomotion Robot Locomotion
X2-N: A Transformable Wheel-legged Humanoid Robot with Dual-mode Locomotion and Manipulation
Apr 23, 2026Yan Ning, Xingzhou Chen, Delong Li +6Legged Robotics Humanoid Loco-Manipulation
Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong, China. · X-lab Department, Agibot Innovation Company, Shanghai, China.
Reinforcement Learning Enabled Adaptive Multi-Task Control for Bipedal Soccer Robots
Apr 21, 2026Yulai Zhang, Yinrong Zhang, Ting Wu +1Legged Robotics Humanoid Robot Control
School of Future Technology, Shanghai University, Shanghai, China
Multi-Gait Learning for Humanoid Robots Using Reinforcement Learning with Selective Adversarial Motion Prior
Apr 21, 2026Yuanye Wu, Keyi Wang, Linqi Ye +1Humanoid Robot Locomotion Robot Locomotion
School of Future Technology, Shanghai University, Shanghai, 200444, China · National and Local Co-Built Humanoid Robotics Innovation Center, 201203 Shanghai, China
Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking
Apr 19, 2026Zewei Zhang, Kehan Wen, Michael Xu +7Robot Trajectory Tracking Humanoid Robot Locomotion
Robotic Systems Lab, ETH Zurich · EPFL · Simon Fraser University +2
Switch: Learning Agile Skills Switching for Humanoid Robots
Apr 16, 2026Yuen-Fui Lau, Qihan Zhao, Yinhuai Wang +4Humanoid Robot Locomotion Humanoid Robot Control
The Hong Kong University of Science and Technology
Model-Based Reinforcement Learning Exploits Passive Body Dynamics for High-Performance Biped Robot Locomotion
Apr 16, 2026Tomoya Kamimura, Haruka Washiyama, Akihito SanoRobot Locomotion RL for Legged Locomotion
Department of Mechanical Science and Bioengineering, Graduate School of Engineering and Science, The University of Osaka, Toyonaka, Japan. · Department of ElectricalTechnology,and MechanicalAichi,Engineering,Japan. Nagoya Institute of
SmoothTurn: Learning to Turn Smoothly for Agile Navigation with Quadrupedal Robots
Mar 13, 2026Zunzhi You, Yunke Wang, Haolan Guo +1Robot Policy Learning Robot Navigation
School of Computer Science, University of Sydney
PUMA: Perception-driven Unified Foothold Prior for Mobility Augmented Quadruped Parkour
Jan 22, 2026Liang Wang, Kanzhong Yao, Yang Liu +4Legged Robotics Terrain-Aware Robot Locomotion
Institute of Cyber-Systems and Control, Zhejiang University, 310027, China · Institute of Artificial Intelligence (TeleAI), China Telecom.

Jun 5, 2026, cs.ROJ/K move · Enter open · S save

T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion

Junhong Guo, Hao Hu, Chen Chen, Haoxuan Han+5

Harbin Institute of Technology · Leju Robotics

Humanoid Robot Locomotion Robot Motion Generation Terrain-Aware Robot Locomotion RL for Legged Locomotion

Open paper AskPDF arXiv

Achieving both anthropomorphic naturalness and robust terrain traversal remains a fundamental challenge in humanoid locomotion. Existing Reinforcement Learning (RL) approaches typically rely on fixed motion priors, limiting their adaptability to varying environments. We propose Terrain-conditioned Generative Motion Priors (T-GMP), a module that captures a terrain-conditioned latent motion manifold from a few expert state-terrain demonstrations using a Conditional Variational Autoencoder (CVAE). The learned priors enable smooth style transitions, facilitating a unified policy that adapts to terrain variations. We integrate T-GMP into an adversarial learning pipeline with our proposed Foothold Penalty, where a discriminator dynamically modulates naturalness constraints conditioned on local terrain features, guiding the generation of versatile and human-like motions. Experimental results demonstrate that our method outperforms existing baselines in traversal success rate and motion smoothness, while preserving biomimetically natural and physically coordinated motions.

Momentum

Related topics

Latest papers 96