Terrain-Aware Robot Locomotion

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24 papers in the last four weeks, up 243% on the four weeks before. 0.2% of all new papers.

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  1. Energy-Efficient Gait Adaptation via Hierarchical Reinforcement Learning for Quadrupedal Locomotion Across Diverse Terrains

    Oct 7, 2026Ammar Issa, Anubhav Singh, Anton Tsaritsin +1Legged RoboticsEnergy-Efficient Robot Locomotion

    Faculty of Control Systems and Robotics, ITMO University, and the Biomechatronics and Energy-Efficient Robotics Lab (BE2R), St. Petersburg, Russia

  2. Experience-Driven Continual Learning of Terrain Traversability for Quadruped Robots

    Sep 30, 2026Luca Bricarello, João Carlos Virgolino Soares, Alberto Sanchez-Delgado +2Continual Robot LearningSafe Robot Navigation

    Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia, Genoa, Italy. · Universit`a degli Studi di Genova, Genoa, Italy.

  3. Occlusion-Aware, Quasi-Static, Stability-Oriented Trajectory Planning on Uneven Terrain

    Sep 30, 2026Amith Manoharan, Chinmay Mundane, Aayush Bahukhandi +3Trajectory OptimizationOff-Road Robot Navigation

    Institute of Technology, University of Tartu, Estonia · RRC, IIIT Hyderabad, India · Czech Technical University, Prague

  4. NEXUS: Perceptive Whole-Body Control for Terrain-Adaptive Teleoperation

    Sep 30, 2026Xiangyu Miao, Junsong Wu, Jiyuan Shi +6Robot TeleoperationHumanoid Robot Control

    The Institute of Artificial Intelligence, China Telecom (TeleAI) · Shanghai Jiao Tong University · The University of Hong Kong +2

  5. Path-Following Control and Terramechanics Analysis for Planetary Rovers Under Wheel-to-Wheel Traction Asymmetry

    Sep 30, 2026Ryuya Matsuoka, Keisuke Takehana, Kentaro Uno +2Robot Trajectory TrackingSpace Robotics

    Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai, Miyagi 980-8579, Japan · Research Center for Green X-Tech, Green Goals Initiative, Tohoku University · Research Center for Space Cross-Tech, Green Goals Initiative, Tohoku University

  6. TERRA: Terrain-Aware Reconstruction, Retargeting and Control for Musculoskeletal Locomotion

    Sep 29, 2026Merkourios Simos, Chengkun Li, Bianca Ziliotto +13D ReconstructionMotion Retargeting

    EPFL

  7. Predictive Safety Curricula for Robust Legged Locomotion

    Sep 29, 2026Ivan Ovinnikov, Pascal Sutter, Christian Gehring +1Curriculum RLRobot Safety

    ANYbotics AG Zürich, Switzerland

  8. Inferring Soil Friction Angle from Robot Foot-Ground Force Histories: A Bayesian Inverse Approach to Proprioceptive Soil Sensing

    Sep 29, 2026Dawei Xu, Zhijie WangTerrain-Aware Robot Locomotion

    Department of Civil and Environmental Engineering Washington State University Pullman, WA 99164, USA

  9. Terrain-Aware Autonomous Planetary Exploration for Exteroceptive-Proprioceptive Mapping with Quadruped Scouts

    Sep 28, 2026Alberto Sanchez-Delgado, João Carlos Virgolino Soares, Victor Barasuol +1Off-Road Robot NavigationSpace Robotics

    Dynamic Legged Systems lab (DLS), Istituto Italiano di Tecnologia (IIT), Genoa, Italy

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

    Sep 24, 2026Ming-Ju Lee, Zizhuo Wang, Shaoting Zhu +3Legged RoboticsHumanoid Robot Locomotion

    Tsinghua University

  11. TactileStep: Sole Tactile Learning for Regulating Foot-Terrain Interaction in Humanoid Locomotion

    Sep 24, 2026Zizhuo Wang, Ming-ju Lee, Shaoting Zhu +3Humanoid Robot LocomotionTerrain-Aware Robot Locomotion

    Tsinghua University

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

    Sep 22, 2026Ruitian Pang, Mingrui Li, Xuanting Liu +10RL ControlRobot Trajectory Tracking

    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

  13. UniPoint: Unified Point-Level Sensor Fusion for Humanoid Locomotion Across Challenging Terrains

    Sep 20, 2026Sicen Li, Zhen Chu, Chao Li +2Humanoid Robot LocomotionPoint Cloud Learning

    College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China · Yunshenchu Technology Co., Ltd., Hangzhou, China · Zhejiang Key Laboratory of Additive Manufacturing Technology and Equipment, Hangzhou, China

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

    Sep 18, 2026Tao Dong, Jia Yu, Yuxuan Fan +5Humanoid Robot LocomotionTerrain-Aware Robot Locomotion

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

  15. Walking on the Slope: Stable Bipedal Gaits with Genetic-Algorithm-Optimized Trajectories

    Sep 17, 2026Madhav RijalTrajectory OptimizationHumanoid Robot Locomotion

    Department of Mechanical Engineering, Indian Institute of Technology Kanpur, Kanpur 208016, India

  16. Learning Slope-Adaptive Whole-Body Locomotion for Humanoid Robots in Roofing Construction

    Sep 17, 2026Songyang Liu, Shuai LiRL for RoboticsRobotic Construction

    Ph.D. Student, Department of Civil and Coastal Engineering, University of Florida, Gainesville, FL 32611. · Associate Professor, Department of Civil and Coastal Engineering, University of Florida, Gainesville, FL 32611 (corresponding author).

  17. Feeling Terrain Before Crossing: World Models for Off-Road Navigation

    Sep 17, 2026E-In Son, Dong-Wook Kim, Ji-Hoon Hwang +4Off-Road Robot NavigationRobot Navigation

    Department of Electrical & Computer Engineering, Seoul National University, Republic of Korea

  18. Fleet-To-Lab: A Transfer Learning Framework For Lunar Rover Slippage Estimation Via Model Fusion

    Sep 15, 2026Riccardo Viviano, Saki Omi, Andrej Orsula +1Space RoboticsRobotics

    Space Robotics Research Group (SpaceR), Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Luxembourg

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

    Sep 14, 2026Qihao Yuan, Yixuan Qiu, Ziyu Cao +2Joint-Embedding Predictive ArchitectureTerrain-Aware Robot Locomotion

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

  20. Tracking the Ground: Online Lidar Identification of Robot-Induced Soil Deformation in Agricultural Environments

    Sep 14, 2026Tom Montagnon, Johann Laconte, Benoit Thuilot +2Terrain-Aware Robot LocomotionAgricultural Robotics

    Universit´e Clermont Auvergne, INRAE, UR TSCF, 63000, Clermont-Ferrand, France · Institut Pascal, Universit´e Clermont Auvergne, Clermont Auvergne INP, CNRS, 63000 Clermont-Ferrand, France · National Agriculture and Food Research Organization, 1-31-1 Kannondai, Tsukuba, Ibaraki 305-0856, Japan

  21. Language-Guided Terrain-Adaptive Neural MPC for Autonomous Traversal of Articulated Tracked Robots

    Sep 11, 2026Zhenfeng Gan, Yanbo Chen, Lirong Che +3Constrained Motion PlanningLanguage Model-Based Control

  22. GeoTrussRover: Morphological Computation with Contact-Semantic Control Primitives

    Sep 11, 2026Muyuan Ma, Yi Zhang, Yang Yang +12Constrained Motion PlanningRobot Morphology-Control Co-Design

  23. GM-Loco: Terrain-Adaptive Humanoid Locomotion on Granular Media

    Sep 9, 2026Junnosuke Kamohara, Feiyang Wu, Andy Ningan Zong +4Humanoid Robot LocomotionTerrain-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

  24. Frame-Coded Legged Locomotion over Noisy Terrain

    Sep 9, 2026Lav R. VarshneyLegged RoboticsTerrain-Aware Robot Locomotion

    Department of Electrical and Computer Engineering and the AI Innovation Institute, Stony Brook University, Stony Brook, NY 11794 USA

  25. PGMT: Perceptive General Motion Tracking for Humanoid Robots

    Sep 8, 2026Hongyi Li, Li Peizhuo, Yucheng Tao +9Humanoid Robot LocomotionTerrain-Aware Robot Locomotion

    Center of X-Mechanics, Zhejiang University, Hangzhou, China. · MARMot Lab, National University of Singapore, Singapore · MirrorMe Technology Co., Ltd.

  26. MulDP: Multimodal Diffusion Policy for Autonomous Quadruped Parkour Navigation across Complex Terrains

    Sep 3, 2026Kangmai Hu, Yueqi Zhang, Peng Zhai +5Robot Policy LearningRobot Navigation

    College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai 200433, China

  27. RoughSense: Lightweight Terrain-Induced Rover Vibration Prediction Using Point Clouds and IMU Feedback

    Sep 3, 2026Gabriel Manuel Garcia, Stephanie Aravecchia, Miguel Angel Olivares-MendezMobile RoboticsSafe Robot Navigation

    University of Luxembourg, Luxembourg · IRL Georgia Tech-CNRS, Metz, France

  28. 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

  29. An Adaptive Control Architecture for Slope and Terrain Compensation in Autonomous Navigation in Mediterranean Greenhouses

    Sep 2, 2026Fernando Cañadas-Aránega, Dirk Wollherr, José L. Guzmán +2Terrain-Aware Robot LocomotionAdaptive Control

    Department of Informatics, CIESOL, ceiA3, Universidad de Almería, Ctra.2026 Sacramento s/n, Almería, 04120, Spain · Chair of Automatic Control Engineering, Technical University of Munich, ArcisstraSSe 21, Munich, 80333, Germany · Department of Engineering, CIESOL, ceiA3, Universidad de Almería, Ctra. Sacramento s/n, Almería, 04120, Spain

  30. Importance and methods to control, vary, and characterize mud strength for studying locomotion

    Sep 1, 2026Divya Ramesh, Gargi Sadalgekar, Qiyuan Fu +3Terrain-Aware Robot LocomotionRobot Locomotion

    Department of Mechanical Engineering, Johns Hopkins University

  31. 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

  32. GigaBrain-WBC-0.5: A Behavior World Model for Robust Humanoid Whole-Body Tracking with Environment Interaction

    Aug 18, 2026Ziyang Cheng, Tianshu Tang, Jinxin Lan +19Whole-Body ControlTerrain-Aware Robot Locomotion

    Tsinghua University · GigaAI · University of Shanghai for Science and Technology +3

  33. A Reconfigurable Tracked Robot for Enhanced Obstacle Traversal Through Movable Articulation Point and Internal Mass Relocation

    Aug 7, 2026Yuki Uda, Yasutaka Nakashima, Motoji Yamamoto +1RoboticsTerrain-Aware Robot Locomotion

    Department of Mechanical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan · Graduate School of Informatics and Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo, 182-8585, Japan

  34. Nonvisual Classification of Ground-Condition by Artificial Proprioception in an Amoeba-Inspired Autonomous Walking Robot

    Aug 6, 2026Hyoto Yamaguchi, Zenji Yatabe, Seiya KasaiTerrain-Aware Robot LocomotionRobotic Perception

    RCIQE and Graduate School of IST

  35. VertiAKD: Adaptive Off-Road Kinodynamics on Vertically Challenging Terrain

    Aug 2, 2026Tong Xu, Chenhui Pan, Francesco Cancelliere +1Robot Trajectory TrackingOnline System Identification

    Department of Computer Science, George Mason University, USA · Department of Electrical, Electronic and Computer Engineering, University of Catania, Italy

  36. 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

  37. Towards Capability-Aware Traversability Navigation for Unstructured Environments

    Jul 22, 2026Gianluca Capezzuto, Felipe Tommaselli, Matheus P. Angarola +2Robot NavigationCross-Embodiment Robot Learning

    Mobile Robotics Group, University of São Paulo, São Carlos, SP, Brazil

  38. Towards Torque-Driven Reinforcement Learning for Quadruped Locomotion

    Jul 20, 2026Jordan Dowdy, Jean Chagas VazReinforcement LearningTerrain-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.

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

    Jul 15, 2026Jun-Gill Kang, Jaehyun Park, Tae-Gyu Song +3Terrain-Aware Robot LocomotionRobot Locomotion

    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

  40. 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

  41. Adapting Generalist Vehicle Models for High-Speed MPC Across Terrains

    Jul 14, 2026Rwik Rana, Jesse Quattrociocchi, Christian Ellis +3Autonomous DrivingTerrain-Aware Robot Locomotion

    The University of Texas at Austin · DEVCOM Army Research Laboratory

  42. 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

  43. Stop to Decide: Latency-Aware Proprioceptive Navigation Primitives for Mapping-Free Quadruped Inspection

    Jul 13, 2026Hanting Suo, Haonan Yan, Liang Wang +1Robotic ControlRobot Navigation

    School of Instrument Science and Engineering, Southeast University, Nanjing, China. · School of Electrical Engineering, Southeast University, Nanjing, China. · School of Mechanical Engineering, Southeast University, Nanjing, China.

  44. 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

  45. Behavior Foundations for Quadruped Robots: ABot-C0 Technical Report

    Jul 8, 2026Xufeng Zhao, Fuzhi Yang, Jianhui Chen +17Legged RoboticsTerrain-Aware Robot Locomotion

    Amapbot Team, Amap, Alibaba Group

  46. Multi-Rate Nonlinear Model Predictive Control for Wall-Supported Bipedal Locomotion of Quadrupedal Robots

    Jul 2, 2026Taizoon Chunawala, Jeeseop Kim, Kaveh Akbari HamedNonlinear MPCTerrain-Aware Robot Locomotion

    Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA · Department of Aerospace and Mechanical Engineering, The University of Texas at El Paso, TX 79968, USA

  47. A Reconfigurable Rocker-Bogie Robot for High Step Climbing and Turning

    Jul 2, 2026Kento Koizumi, Tomoaki Ohba, Yuta Saito +2Terrain-Aware Robot LocomotionRobot Locomotion

    Artificial Intelligence Laboratory, University of Tsukuba, Tsukuba, Japan · Ph.D. Program in Engineering Mechanics and Energy, University of Tsukuba, Tsukuba, Japan · Beaver’s Hive, Osaka, Japan +1

  48. Path Planning in Physically Viable World Models

    Jul 1, 2026Su Ann Low, Cheng-Hsi Hsiao, Xingjian Li +3Off-Road Robot NavigationWorld Models for Robotics

    The University of Texas at Austin

  49. Learning Locomotion on Discrete Terrain via Minimal Proximity Sensing

    Jun 30, 2026Jiale Fan, Connor Flynn, Tianao Xu +4Terrain-Aware Robot LocomotionRobot Locomotion

    All authors are with the Robotic Systems Lab, ETH Zurich.

  50. StairMaster: Learning to Conquer Risky Hollow Stairs for Agile Quadrupedal Robots

    Jun 24, 2026Xincheng Tang, Youhan Xie, Zhengjie Shu +5Sim-to-Real TransferTerrain-Aware Robot Locomotion

    Shanghai Jiao Tong University

  51. Learning Perceptive Platform Adaptive Locomotion Controllers for Quadrupedal Robots

    Jun 23, 2026David Rytz, Kim Tien Ly, Ioannis HavoutisRobot Skill LearningCross-Embodiment Robot Learning

    Dynamic Robot Systems, Oxford Robotics Institute, University of Oxford

  52. 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

  53. RoverDevKit: An open, physics-grounded tradespace toolkit for conceptual design of lunar micro-rovers

    Jun 19, 2026Jon ReifschneiderSpace RoboticsRobotics

    Duke University, Durham, NC, 27708, USA

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

    Jun 17, 2026Francisco Affonso, Matheus P. Angarola, Ana Luiza Mineiro +3Robot Policy AdaptationTerrain-Aware Robot Locomotion

    University of Illinois Urbana-Champaign · University of São Paulo

  55. LoComposition: Terrain-Adaptive Energy-Efficient Quadruped Locomotion without Gait Priors

    Jun 14, 2026Loukas Kordos, Leonard T. Franz, Simon Rappenecker +4Legged RoboticsRL for Robotics

    Technical University of Munich. · University of Tübingen. · Hertie Institute for Clinical Brain Research & Center for Integrative Neuroscience. +1

  56. 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

  57. 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

  58. Locomotion analysis of a quadruped interacting with the lunar granular surface

    Jun 9, 2026Yash J VyasRobotics SimulationGait Analysis

    Department of Industrial Engineering, University of Padua

  59. 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

  60. 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