arXiv AI
Jun 19
CTS-MoE: Implicit Terrain Adaptation via Mixture-of-Experts for Perceptive Locomotion
arXiv:2606. 19633v1 Announce Type: cross Abstract: Perceptive legged locomotion over discontinuous terrain (e.
CoRe-MoE: Contrastive Reweighted Mixture of Experts for Multi-Terrain Humanoid Locomotion with Gait Adaptation
arXiv:2606. 04718v1 Announce Type: cross Abstract: Humans primarily rely on walking and running to traverse complex terrains, without resorting to unnecessarily complex motion patterns.
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arXiv AI
Jul 15
GaitSpan: Growing Humanoid Locomotion from Walking to Running
arXiv:2607. 12114v1 Announce Type: cross Abstract: A humanoid that can walk should not relearn locomotion from scratch to jog or run.
arXiv Machine Learning
Jun 16
LoComposition: Terrain-Adaptive Energy-Efficient Quadruped Locomotion without Gait Priors
arXiv:2606. 15896v1 Announce Type: cross Abstract: Learning-based quadrupedal locomotion typically relies on complex reward formulations that entangle task specification, operational limits, gait preference, and terrain adaptation within a single optimization objective.
arXiv AI
Jul 23
PGTT: Phase-Guided Terrain Traversal for Perceptive Legged Locomotion
arXiv:2510. 18348v2 Announce Type: replace-cross Abstract: State-of-the-art perceptive Reinforcement Learning controllers for legged robots typically either (i) impose oscillator-or IK-based gait priors that constrain the action space, bias policy optimization, and limit adaptability across robot morphologies, or (ii) operate "blind," making them unable to anticipate hind-leg terrain and brittle to observation noise.
arXiv AI
Jun 17
OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
arXiv:2509. 26633v3 Announce Type: replace-cross Abstract: A dominant paradigm for teaching humanoid robots complex skills is to retarget human motions as kinematic references to train reinforcement learning (RL) policies.
arXiv Machine Learning
Jul 31
REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learning
arXiv:2603. 13707v3 Announce Type: replace-cross Abstract: Humanoid loco-manipulation requires coordinated task-space motion planning with stable loco-manipulation command tracking under complex robot-environment dynamics and long-horizon tasks.
arXiv Machine Learning
Jun 11
Critic Architecture Matters: Dual vs. Unified Critics for Humanoid Loco-Manipulation
arXiv:2606. 11891v1 Announce Type: cross Abstract: Multi-objective reinforcement learning for humanoid robots must coordinate locomotion and manipulation within a single policy.
arXiv AI
Jul 16
Agile perceptive multi-skill locomotion for quadrupedal robots in the wild
arXiv:2607. 13579v1 Announce Type: cross Abstract: Enabling quadrupedal robots to traverse complex terrains-from rugged outdoor environments to urban landscapes-requires seamless integration of multiple motor skills, smooth transitions between gaits, and high-speed perceptive locomotion using only onboard sensors.
arXiv AI
Sep 18
GigaBrain-WBC-0.5: A Behavior World Model for Robust Humanoid Whole-Body Tracking with Environment Interaction
The paper introduces InterTrack, a behavior world model that enables humanoid robots to perform robust whole-body tracking while interacting with varied terrain and objects. Using a Transformer architecture, InterTrack predicts actions, states, and behavior distributions conditioned on the environment, and it is trained with an automated pipeline that reconstructs 3D support geometry from retargeted motions. The system achieves an 81.3% success rate on terrain interaction, a 99.3% fall-recovery rate, and outperforms leading baselines in both free-space tracking and cross-terrain scenarios.
arXiv AI
3d ago
TERRA: Terrain-Aware Reconstruction, Retargeting and Control for Musculoskeletal Locomotion
arXiv:2609.38653v1 Announce Type: cross Abstract: Recent advances in musculoskeletal modeling and reinforcement learning have enabled muscle-actuated agents to reproduce increasingly complex human mo...
arXiv Machine Learning
Jun 9
Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Tracking
arXiv:2606. 08253v1 Announce Type: cross Abstract: Enabling humanoid robots to operate in complex, dynamic environments remains a critical challenge, fundamentally limited by the ability to navigate robustly, safely, and accurately.
arXiv AI
Jul 9
Behavior Foundations for Quadruped Robots: ABot-C0 Technical Report
arXiv:2607. 07370v1 Announce Type: cross Abstract: In embodied intelligence systems, the motion controller serves as the critical bridge between semantic reasoning and physical execution.