Terrain-Aware Robot Locomotion

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  1. SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion

    Aug 27, 2026Pihai Sun, Gang Han, Jingkai Sun +17Humanoid Robot Locomotion3D Reconstruction

  2. 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

  3. 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

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

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

  5. 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

  6. Towards Capability-Aware Traversability Navigation for Unstructured Environments

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

  7. Towards Torque-Driven Reinforcement Learning for Quadruped Locomotion

    Jul 20, 2026Jordan Dowdy, Jean Chagas VazReinforcement LearningTerrain-Aware Robot Locomotion

  8. 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

  9. EgoHTR: Egocentric 4D Demonstrations of Human Terrain Traversal

    Jul 15, 2026Alex Brandes, Haig Conti Georges Sajelian, Manthan Patel +11Humanoid Robot LocomotionMarkerless Motion Capture

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

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

  11. 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

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

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

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

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

  14. 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

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

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

  16. Path Planning in Physically Viable World Models

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

  17. Learning Locomotion on Discrete Terrain via Minimal Proximity Sensing

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

  18. Learning Perceptive Platform Adaptive Locomotion Controllers for Quadrupedal Robots

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

  19. 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

  20. 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

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

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

  22. 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

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

    Jun 9, 2026Yash J VyasRobotics SimulationGait Analysis

  24. 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

  25. 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