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.
By Jun-Gill Kang, Jaehyun Park, Tae-Gyu Song, Joon-Ha Kim, Seungwoo Hong, Hae-Won Park
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.
By Lujie Yang, Xiaoyu Huang, Zhen Wu, Angjoo Kanazawa, Pieter Abbeel, Carmelo Sferrazza, C. Karen Liu, Rocky Duan, Guanya Shi
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: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.
By Alessandro Montenegro, Shihao Li, Puze Liu, Alberto Maria Metelli, Jan Peters
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.
By Alexandros Ntagkas, Chairi Kiourt, Konstantinos Chatzilygeroudis