Cover Image

Flexible Locomotion Learning with Diffusion Model Predictive Control

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Huang, Runhan, Balim, Haldun, Yang, Heng, Du, Yilun
Format:	Preprint
Published:	2025
Subjects:	Robotics Artificial Intelligence
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Model-Based Diffusion Sampling for Predictive Control in Offline Decision Making
by: Balim, Haldun, et al.
Published: (2025)

MoE-Loco: Mixture of Experts for Multitask Locomotion
by: Huang, Runhan, et al.
Published: (2025)

Robust Robot Walker: Learning Agile Locomotion over Tiny Traps
by: Zhu, Shaoting, et al.
Published: (2024)

A Model-Based Approach to Imitation Learning through Multi-Step Predictions
by: Balim, Haldun, et al.
Published: (2025)

Flexible Multitask Learning with Factorized Diffusion Policy
by: Liu, Chaoqi, et al.
Published: (2025)

Can Transformers Learn Optimal Filtering for Unknown Systems?
by: Balim, Haldun, et al.
Published: (2023)

Streaming Diffusion Policy: Fast Policy Synthesis with Variable Noise Diffusion Models
by: Høeg, Sigmund H., et al.
Published: (2024)

Scaling Tasks, Not Samples: Mastering Humanoid Control through Multi-Task Model-Based Reinforcement Learning
by: Liu, Shaohuai, et al.
Published: (2026)

Generative Control as Optimization: Time Unconditional Flow Matching for Adaptive and Robust Robotic Control
by: Zhang, Zunzhe, et al.
Published: (2026)

PMG: Parameterized Motion Generator for Human-like Locomotion Control
by: Han, Chenxi, et al.
Published: (2026)

Hybrid Diffusion for Simultaneous Symbolic and Continuous Planning
by: Høeg, Sigmund Hennum, et al.
Published: (2025)

An Untethered Bioinspired Robotic Tensegrity Dolphin with Multi-Flexibility Design for Aquatic Locomotion
by: Zhao, Luyang, et al.
Published: (2024)

Plan First, Diffuse Later: Extrinsic Graph Guidance for Long-Horizon Diffusion Planning
by: Hassidof, Yaniv, et al.
Published: (2026)

Offline Adaptation of Quadruped Locomotion using Diffusion Models
by: O'Mahoney, Reece, et al.
Published: (2024)

RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion
by: Kang, Dongho, et al.
Published: (2023)

Generative Trajectory Stitching through Diffusion Composition
by: Luo, Yunhao, et al.
Published: (2025)

Learning Quadruped Locomotion Using Differentiable Simulation
by: Song, Yunlong, et al.
Published: (2024)

Reduced-Order Model-Guided Reinforcement Learning for Demonstration-Free Humanoid Locomotion
by: Liu, Shuai, et al.
Published: (2025)

Learning Quadrupedal Locomotion for a Heavy Hydraulic Robot Using an Actuator Model
by: Lee, Minho, et al.
Published: (2026)

Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
by: Li, Zhongyu, et al.
Published: (2024)

Variable Stiffness for Robust Locomotion through Reinforcement Learning
by: Spoljaric, Dario, et al.
Published: (2025)

A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion
by: Xue, Yufei, et al.
Published: (2025)

Latent Action Priors for Locomotion with Deep Reinforcement Learning
by: Hausdörfer, Oliver, et al.
Published: (2024)

Learning Quadruped Locomotion Policies using Logical Rules
by: DeFazio, David, et al.
Published: (2021)

Learning Terrain-Specialized Policies for Adaptive Locomotion in Challenging Environments
by: Angarola, Matheus P., et al.
Published: (2025)

Hierarchical Reinforcement Learning and Value Optimization for Challenging Quadruped Locomotion
by: Coholich, Jeremiah, et al.
Published: (2025)

PRIOR: Perceptive Learning for Humanoid Locomotion with Reference Gait Priors
by: Han, Chenxi, et al.
Published: (2026)

Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies
by: Chen, Zixuan, et al.
Published: (2024)

Integrating Learning-Based Manipulation and Physics-Based Locomotion for Whole-Body Badminton Robot Control
by: Wang, Haochen, et al.
Published: (2025)

Evolutionary Morphology Towards Overconstrained Locomotion via Large-Scale, Multi-Terrain Deep Reinforcement Learning
by: Chen, Yenan, et al.
Published: (2024)

GenTe: Generative Real-world Terrains for General Legged Robot Locomotion Control
by: Wan, Hanwen, et al.
Published: (2025)

Learning to Walk with Less: a Dyna-Style Approach to Quadrupedal Locomotion
by: Affonso, Francisco, et al.
Published: (2025)

FastGrasp: Learning-based Whole-body Control method for Fast Dexterous Grasping with Mobile Manipulators
by: Tao, Heng, et al.
Published: (2026)

BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds
by: Wang, Huayi, et al.
Published: (2025)

Transferable Latent-to-Latent Locomotion Policy for Efficient and Versatile Motion Control of Diverse Legged Robots
by: Zheng, Ziang, et al.
Published: (2025)

SafeMind: A Risk-Aware Differentiable Control Framework for Adaptive and Safe Quadruped Locomotion
by: Zhang, Zukun, et al.
Published: (2026)

CMR: Contractive Mapping Embeddings for Robust Humanoid Locomotion on Unstructured Terrains
by: Zeng, Qixin, et al.
Published: (2026)

TTT-Parkour: Rapid Test-Time Training for Perceptive Robot Parkour
by: Zhu, Shaoting, et al.
Published: (2026)

No More Marching: Learning Humanoid Locomotion for Short-Range SE(2) Targets
by: Dugar, Pranay, et al.
Published: (2025)

StyleLoco: Generative Adversarial Distillation for Natural Humanoid Robot Locomotion
by: Ma, Le, et al.
Published: (2025)