Cover Image

Learning Terrain Aware Bipedal Locomotion via Reduced Dimensional Perceptual Representations

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Castillo, Guillermo A., Lodha, Himanshu, Hereid, Ayonga
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
by: Xiang, Zhaoyang, et al.
Published: (2024)

Unified Path and Gait Planning for Safe Bipedal Robot Navigation
by: Peng, Chengyang, et al.
Published: (2024)

Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions
by: Peng, Chengyang, et al.
Published: (2024)

Perceptive Variable-Timing Footstep Planning for Humanoid Locomotion on Disconnected Footholds
by: Xiang, Zhaoyang, et al.
Published: (2026)

Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications
by: Weng, Bowen, et al.
Published: (2023)

Learning Vision-Based Bipedal Locomotion for Challenging Terrain
by: Duan, Helei, et al.
Published: (2023)

Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability
by: Muenprasitivej, Kasidit, et al.
Published: (2024)

VMTS: Vision-Assisted Teacher-Student Reinforcement Learning for Multi-Terrain Locomotion in Bipedal Robots
by: Chen, Fu, et al.
Published: (2025)

No More Blind Spots: Learning Vision-Based Omnidirectional Bipedal Locomotion for Challenging Terrain
by: Gadde, Mohitvishnu S., et al.
Published: (2025)

RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain
by: Kamohara, Junnosuke, et al.
Published: (2025)

Reinforcement Learning with Data Bootstrapping for Dynamic Subgoal Pursuit in Humanoid Robot Navigation
by: Peng, Chengyang, et al.
Published: (2025)

Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
by: Gao, Yuan, et al.
Published: (2024)

STATE-NAV: Stability-Aware Traversability Estimation for Bipedal Navigation on Rough Terrain
by: Yoon, Ziwon, et al.
Published: (2025)

Bipedal-Walking-Dynamics Model on Granular Terrains
by: Chen, Xunjie, et al.
Published: (2026)

Learning Agile Locomotion on Risky Terrains
by: Zhang, Chong, et al.
Published: (2023)

Sim-to-Real Transfer in Deep Reinforcement Learning for Bipedal Locomotion
by: Bao, Lingfan, et al.
Published: (2025)

Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey
by: Bao, Lingfan, et al.
Published: (2024)

Descriptive Model-based Learning and Control for Bipedal Locomotion
by: Kumar, Suraj, et al.
Published: (2025)

LIPM-Guided Reinforcement Learning for Stable and Perceptive Locomotion in Bipedal Robots
by: Su, Haokai, et al.
Published: (2025)

Moving past point-contacts: Extending the ALIP model to humanoids with non-trivial feet using hierarchical, full-body momentum control
by: Paredes, Victor C., et al.
Published: (2024)

BarlowWalk: Self-supervised Representation Learning for Legged Robot Terrain-adaptive Locomotion
by: Huang, Haodong, et al.
Published: (2025)

TOLEBI: Learning Fault-Tolerant Bipedal Locomotion via Online Status Estimation and Fallibility Rewards
by: Lee, Hokyun, et al.
Published: (2026)

Terrain-Aware Model Predictive Control of Heterogeneous Bipedal and Aerial Robot Coordination for Search and Rescue Tasks
by: Shamsah, Abdulaziz, et al.
Published: (2024)

Learning Perceptive Humanoid Locomotion over Challenging Terrain
by: Sun, Wandong, et al.
Published: (2025)

Robust RL Control for Bipedal Locomotion with Closed Kinematic Chains
by: Maslennikov, Egor, et al.
Published: (2025)

Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control
by: Gu, Zhaoyuan, et al.
Published: (2024)

Learning Humanoid Locomotion over Challenging Terrain
by: Radosavovic, Ilija, et al.
Published: (2024)

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

Probabilistically-Safe Bipedal Navigation over Uncertain Terrain via Conformal Prediction and Contraction Analysis
by: Muenprasitivej, Kasidit, et al.
Published: (2025)

Capture Point Control in Thruster-Assisted Bipedal Locomotion
by: Pitroda, Shreyansh, et al.
Published: (2024)

Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs
by: Katayama, Sotaro, et al.
Published: (2025)

Constrained Reinforcement Learning for Unstable Point-Feet Bipedal Locomotion Applied to the Bolt Robot
by: Roux, Constant, et al.
Published: (2025)

Towards Terrain-Aware Safe Locomotion for Quadrupedal Robots Using Proprioceptive Sensing
by: Yang, Peiyu, et al.
Published: (2026)

RoMoCo: Robotic Motion Control Toolbox for Reduced-Order Model-Based Locomotion on Bipedal and Humanoid Robots
by: Dai, Min, et al.
Published: (2025)

Scaling Rough Terrain Locomotion with Automatic Curriculum Reinforcement Learning
by: Li, Ziming, et al.
Published: (2026)

Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains
by: Yu, Shangqun, et al.
Published: (2024)

RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains
by: Zhang, Yuanhang, et al.
Published: (2026)

Human Imitated Bipedal Locomotion with Frequency Based Gait Generator Network
by: Ates, Yusuf Baran, et al.
Published: (2025)

The Strange Attractor Model of Bipedal Locomotion and its Consequences on Motor Control
by: Tiseo, Carlo, et al.
Published: (2018)

Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain
by: Acosta, Brian, et al.
Published: (2025)