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.
By Xufeng Zhao, Fuzhi Yang, Jianhui Chen, Li Gao, Zhang Meng, Jie Gao, Yao Zheng, Wenyu Liu, Menglin Yang, Minqi Gu, Yaru Zhao, Honglin Han, Shihui Su, Zixiao Tang, Liu Liu, Mu Xu, Yang Cai, Wenbin Tang
arXiv:2601. 15995v2 Announce Type: replace-cross Abstract: Parkour tasks for quadrupeds have emerged as a promising benchmark for agile locomotion.
By Liang Wang, Kanzhong Yao, Yang Liu, Weikai Qin, Jun Wu, Zhe Sun, Qiuguo Zhu
arXiv:2602. 03087v2 Announce Type: replace-cross Abstract: Quadruped robots are used for primary searches during the early stages of indoor fires.
By Baixiao Huang, Baiyu Huang, Yu Hou
OmniMimic is a training framework that expands limited animal demonstration data into a single multi‑gait policy for omnidirectional quadruped locomotion. It uses temporal reversal, constrained dynamics completion, and sagittal reflection to generate kinematic and physical supervision beyond the observed directions, then progressively expands command ranges and employs a shared actor with soft‑gated gait‑specialized residual experts. In simulation, OmniMimic improves foot‑position accuracy by 12.9% and velocity‑tracking error by 63.1% over the APEX baseline across four gaits.
By Sheng Wu, Guoqiang Zhao, Zhe Yang, Fei Teng, Zhikun Zhou, Yanlin Yang, Zheng Fang, Hong Zheng, Yaonan Wang, Kailun Yang
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.
By Loukas Kordos, Leonard T. Franz, Simon Rappenecker, Oliver Hausdoerfer, Angela P. Schoellig, Pavel Kolev, Georg Martius
arXiv:2607. 18365v1 Announce Type: cross Abstract: Reinforcement learning (RL) for legged robots is advancing locomotion, demonstrating its ability to adapt to new and challenging terrain.
By Jordan Dowdy, Jean Chagas Vaz