Learning Perceptive Platform Adaptive Locomotion Controllers for Quadrupedal Robots - 2026-06-23 - Research Publication - Universal quadrupedal locomotion remains limited by the difficulty of integrating perception across diverse robot morphologies. - source: arxiv.org
ZackOo23/Software-Development-for-Advanced-RL-techniques - 2026-06-01 - Research Publication - Reproducible robotics learning pipeline for ANYmal-D in MuJoCo, extending a PPO baseline with experiment tracking, structured metrics logging, waypoint demonstration datasets, and preparation for imitation learning with… - source: github.com
SafeMind: A Risk-Aware Differentiable Control Framework for Adaptive and Safe Quadruped Locomotion - 2026-04-10 - Research Publication - Learning-based quadruped controllers achieve impressive agility but typically lack formal safety guarantees under model uncertainty, perception noise, and unstructured contact conditions. - source: arxiv.org
GrandTour: A Legged Robotics Dataset in the Wild for Multi-Modal Perception and State Estimation - 2026-02-20 - Research Publication - Accurate state estimation and multi-modal perception are prerequisites for autonomous legged robots in complex, large-scale environments. - source: arxiv.org
Scaling Rough Terrain Locomotion with Automatic Curriculum Reinforcement Learning - 2026-01-24 - Research Publication - Curriculum learning has demonstrated substantial effectiveness in robot learning. - source: arxiv.org
Large-Scale Autonomous Gas Monitoring for Volcanic Environments: A Legged Robot on Mount Etna - 2026-01-12 - Research Publication - Volcanic gas emissions are key precursors of eruptive activity. - source: arxiv.org
Botany Meets Robotics in Alpine Scree Monitoring - 2025-11-16 - Research Publication - According to the European Union's Habitat Directive, habitat monitoring plays a critical role in response to the escalating problems posed by biodiversity loss and environmental degradation. - source: arxiv.org
PGTT: Phase-Guided Terrain Traversal for Perceptive Legged Locomotion - 2025-10-21 - Research Publication - State-of-the-art perceptive Reinforcement Learning controllers for legged robots either (i) impose oscillator or IK-based gait priors that constrain the action space, add bias to the policy optimization and reduce… - source: arxiv.org
Bridging Research and Practice in Simulation-based Testing of Industrial Robot Navigation Systems - 2025-10-10 - Research Publication - Ensuring robust robotic navigation in dynamic environments is a key challenge, as traditional testing methods often struggle to cover the full spectrum of operational requirements. - source: arxiv.org
Sampling Strategies for Robust Universal Quadrupedal Locomotion Policies - 2025-10-08 - Research Publication - This work focuses on sampling strategies of configuration variations for generating robust universal locomotion policies for quadrupedal robots. - source: arxiv.org
Collaborative Loco-Manipulation for Pick-and-Place Tasks with Dynamic Reward Curriculum - 2025-09-16 - Research Publication - We present a hierarchical RL pipeline for training one-armed legged robots to perform pick-and-place (P&P) tasks end-to-end -- from approaching the payload to releasing it at a target area -- in both single-robot and… - source: arxiv.org
Towards bridging the gap: Systematic sim-to-real transfer for diverse legged robots - 2025-09-08 - Research Publication - Legged robots must achieve both robust locomotion and energy efficiency to be practical in real-world environments. - source: arxiv.org
Constrained Style Learning from Imperfect Demonstrations under Task Optimality - 2025-07-12 - Research Publication - Learning from demonstration has proven effective in robotics for acquiring natural behaviors, such as stylistic motions and lifelike agility, particularly when explicitly defining style-oriented reward functions is… - source: arxiv.org
Building Forest Inventories with Autonomous Legged Robots -- System, Lessons, and Challenges Ahead - 2025-06-25 - Research Publication - Legged robots are increasingly being adopted in industries such as oil, gas, mining, nuclear, and agriculture. - source: arxiv.org
Learning Physical Systems: Symplectification via Gauge Fixing in Dirac Structures - 2025-06-23 - Research Publication - Physics-informed deep learning has achieved remarkable progress by embedding geometric priors, such as Hamiltonian symmetries and variational principles, into neural networks, enabling structure-preserving models that… - source: arxiv.org
Motion Priors Reimagined: Adapting Flat-Terrain Skills for Complex Quadruped Mobility - 2025-05-21 - Research Publication - Reinforcement learning (RL)-based motion imitation methods trained on demonstration data can effectively learn natural and expressive motions with minimal reward engineering but often struggle to generalize to novel… - source: arxiv.org
Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy - 2025-05-21 - Research Publication - This article presents Platform Adaptive Locomotion (PAL), a unified control method for quadrupedal robots with different morphologies and dynamics. - source: arxiv.org
Parkour in the Wild: Learning a General and Extensible Agile Locomotion Policy Using Multi-expert Distillation and RL Fine-tuning - 2025-05-16 - Research Publication - Legged robots are well-suited for navigating terrains inaccessible to wheeled robots, making them ideal for applications in search and rescue or space exploration. - source: arxiv.org
Real-Time Out-of-Distribution Failure Prevention via Multi-Modal Reasoning - 2025-05-15 - Research Publication - While foundation models offer promise toward improving robot safety in out-of-distribution (OOD) scenarios, how to effectively harness their generalist knowledge for real-time, dynamically feasible response remains a… - source: arxiv.org
Whole-Body Pose Control for Legged Manipulation - 2025-05-15 - Research Publication - Paper on whole-body end-effector pose tracking for legged manipulators using reinforcement learning. - source: leggedrobotics.github.io
FOCI: Trajectory Optimization on Gaussian Splats - 2025-05-13 - Research Publication - 3D Gaussian Splatting (3DGS) has recently gained popularity as a faster alternative to Neural Radiance Fields (NeRFs) in 3D reconstruction and view synthesis methods. - source: arxiv.org
Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation - 2025-04-27 - Research Publication - Ensuring safe navigation in complex environments requires accurate real-time traversability assessment and understanding of environmental interactions relative to the robot`s capabilities. - source: arxiv.org
newton-physics/newton - 2025-04-22 - Research Publication - An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers. - source: github.com
Quadruped Robot Simulation Using Deep Reinforcement Learning -- A step towards locomotion policy - 2025-02-23 - Research Publication - We present a novel reinforcement learning method to train the quadruped robot in a simulated environment. - source: arxiv.org
Watch Your STEPP: Semantic Traversability Estimation using Pose Projected Features - 2025-01-29 - Research Publication - Understanding the traversability of terrain is essential for autonomous robot navigation, particularly in unstructured environments such as natural landscapes. - source: arxiv.org
QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction - 2024-12-30 - Research Publication - This work proposes QuadPiPS, a perception-informed framework for quadrupedal foothold planning in the perception space. - source: arxiv.org
Learning an Adaptive Fall Recovery Controller for Quadrupeds on Complex Terrains - 2024-12-22 - Research Publication - Legged robots have shown promise in locomotion complex environments, but recovery from falls on challenging terrains remains a significant hurdle. - source: arxiv.org
Offline Adaptation of Quadruped Locomotion using Diffusion Models - 2024-11-13 - Research Publication - The authors present a diffusion-based approach to quadrupedal locomotion that simultaneously addresses the limitations of learning and interpolating between multiple skills and of (modes) offline adapting to new locomotion… - source: arxiv.org
SDS -- See it, Do it, Sorted: Quadruped Skill Synthesis from Single Video Demonstration - 2024-10-15 - Research Publication - ANYmal) and outperforms prior work in data efficiency, training time and engineering effort. - source: arxiv.org
Constrained skill discovery paper deploys unsupervised locomotion on ANYmal - 2024-10-10 - Research Publication - Representation learning and unsupervised skill discovery can allow robots to acquire diverse and reusable behaviors without the need for task-specific rewards. - source: arxiv.org
Obstacle-Avoidant Leader Following with a Quadruped Robot - 2024-10-01 - Research Publication - This work presents a virtual leash with which a robot can naturally follow an operator. - source: arxiv.org
Whole-body End-Effector Pose Tracking - 2024-09-24 - Research Publication - The study addresses these limitations by introducing a whole-body RL formulation for end-effector pose tracking in a large workspace on rough, unstructured terrains. - source: arxiv.org
InteLiPlan: An Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy - 2024-09-22 - Research Publication - The authors introduce an interactive LLM-based framework designed to enhance the autonomy and robustness of domestic robots, targeting embodied intelligence. - source: arxiv.org
Perceptive Pedipulation with Local Obstacle Avoidance - 2024-09-11 - Research Publication - To address this limitation, the authors introduce a reinforcement learning-based approach to train a whole-body obstacle-aware policy that tracks foot position commands while simultaneously avoiding obstacles. - source: arxiv.org
Learning to Open and Traverse Doors with a Legged Manipulator - 2024-09-07 - Research Publication - To address this, the authors propose a learning-based controller for a legged manipulator to open and traverse through doors. - source: arxiv.org
Identifying Terrain Physical Parameters from Vision -- Towards Physical-Parameter-Aware Locomotion and Navigation - 2024-08-29 - Research Publication - The study proposes a cross-modal self-supervised learning framework for vision-based environmental physical parameter estimation, which paves the way for future physical-property-aware locomotion and navigation. - source: arxiv.org
IN-Sight: Interactive Navigation through Sight - 2024-08-01 - Research Publication - In response, the authors introduce IN-Sight, a novel approach to self-supervised path planning, enabling more effective navigation strategies through interaction with obstacles. - source: arxiv.org
rua0ra1/my_tbai_implementation - 2024-07-17 - Research Publication - this repo is meant to learn and recreate the controllers developed in https://github.com/lnotspotl/tbai using custom robot instead of anymal - source: github.com
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion - 2024-05-29 - Research Publication - Alternatively, the authors present Gaitor, which learns a disentangled and 2D representation across locomotion gaits. - source: arxiv.org
Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment - 2024-04-22 - Research Publication - The authors present a solution for autonomous forest inventory with a legged robotic platform. - source: arxiv.org
Benchmarking Population-Based Reinforcement Learning across Robotic Tasks with GPU-Accelerated Simulation - 2024-04-04 - Research Publication - This work leverages a Population-Based Reinforcement Learning (PBRL) approach and a GPU-accelerated physics simulator to enhance the exploration capabilities of RL by concurrently training multiple policies in parallel. - source: arxiv.org
Adaptive energy-regularization paper trains efficient gait transitions on ANYmal-C - 2024-03-29 - Research Publication - In reinforcement learning for legged robot locomotion, crafting effective reward strategies is crucial. - source: arxiv.org
ddebenedittis/display_lidar_anymal - 2024-02-23 - Research Publication - A simple repo for displaying the ANYmal robot with a point cloud generated from a ply file - source: github.com
Neuromorphic quadratic programming for efficient and scalable model predictive control - 2024-01-26 - Research Publication - Here, the authors present a method to solve convex continuous optimization problems with quadratic cost functions and linear constraints on Intel's scalable neuromorphic research chip Loihi 2. - source: arxiv.org
willh003/isaac-anymal-runner - 2023-12-07 - Research Publication - Code for loading and controlling an Anymal robot in Nvidia Isaac Sim - source: github.com
Learning Agile Locomotion on Risky Terrains - 2023-11-17 - Research Publication - Given that the robot needs to rapidly adapt its velocity on these terrains, the authors formulate the task as a navigation task instead of the commonly used velocity tracking which constrains the robot's behavior and… - source: arxiv.org
Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics - 2023-10-09 - Research Publication - Their proposed formulation exploits the system's high-order nonlinearities, such as the nonholonomy of the angular momentum, in order to produce feasible, high-acceleration manoeuvres. - source: arxiv.org
Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End - 2023-10-05 - Research Publication - The authors validate their approach in simulation and on the real quadruped robot ANYmal running in real-time (<10 ms CPU inference). - source: arxiv.org
Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning - 2023-09-25 - Research Publication - The study proposes a risk sensitive locomotion training method employing distributional reinforcement learning to consider safety explicitly. - source: arxiv.org
ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots - 2023-06-26 - Research Publication - Physical ANYmal executes learned parkour-style navigation across consecutive challenging obstacles. - source: arxiv.org
Perceptive Locomotion Through Nonlinear Model-Predictive Control - 2023-05-29 - Research Publication - Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of… - source: doi.org
nabeeljadoon/QuadrupedRobot-Simulation---RaiSim - 2023-04-05 - Research Publication - This is the deep reinforcement learning implementation on ANYmal Robot - source: github.com
uzh-rpg/event-based_object_catching_anymal - 2023-03-01 - Research Publication - Code for "Event-based Agile Object Catching with a Quadrupedal Robot", Forrai et al. ICRA'23 - source: github.com
Perceptive Locomotion through Nonlinear Model Predictive Control - 2022-08-17 - Research Publication - Physical ANYmal performs perceptive rough-terrain locomotion and dynamic climbing. - source: arxiv.org
qiayuanl/legged_control - 2022-06-24 - Research Publication - NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls - source: github.com
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation - 2022-05-02 - Research Publication - Quadruped locomotion is rapidly maturing to a degree where robots are able to realise highly dynamic manoeuvres. However, current planners are unable to vary key gait parameters of the in-swing feet midair. In this work we… - source: arxiv.org
Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors - 2022-03-31 - Research Publication - We investigate the use of prior knowledge of human and animal movement to learn reusable locomotion skills for real legged robots. Our approach builds upon previous work on imitating human or dog Motion Capture (MoCap)… - source: arxiv.org
lucidrains/anymal-belief-state-encoder-decoder-pytorch - 2022-01-26 - Research Publication - Implementation of the Belief State Encoder / Decoder in the new breakthrough robotics paper from ETH Zürich - source: github.com
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge - 2022-01-18 - Research Publication - Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy hard to achieve. This has motivated the… - source: arxiv.org
leggedrobotics/legged_gym - 2021-10-18 - Research Publication - Isaac Gym Environments for Legged Robots - source: github.com
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement\n Learning - 2021-09-24 - Research Publication - In this work, we present and study a training set-up that achieves fast\npolicy generation for real-world robotic tasks by using massive parallelism on\na single workstation GPU. We analyze and discuss the impact of… - source: arxiv.org
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots - 2021-07-15 - Research Publication - We present visual inertial lidar legged navigation system (VILENS), an odometry system for legged robots based on factor graphs. The key novelty is the tight fusion of four different sensor modalities to achieve reliable… - source: arxiv.org
LuanDev3/anymal_with_wheels - 2021-06-25 - Research Publication - This Project extends the concepts of the Anymal C robot developed by the ANYmal group and uses the simulation of this robot coupled with wheels to realize a hybrid control navigation in different environments. - source: github.com
Haptic sequential Monte Carlo localization for quadrupedal locomotion in vision-denied scenarios - 2021-01-01 - Research Publication - Continuous robot operation in extreme scenarios such as underground mines or sewers is difficult because exteroceptive sensors may fail due to fog, darkness, dirt or malfunction. So as to enable autonomous navigation in… - source: ora.ox.ac.uk
Learning Quadrupedal Locomotion over Challenging Terrain - 2020-10-21 - Research Publication - ANYmal traverses mud, snow, rubble, vegetation and gushing water using a learned proprioceptive controller. - source: arxiv.org
ANYbotics/anymal_c_simple_description - 2020-09-10 - Research Publication - Simplified robot description of the ANYmal C quadrupedal robot. - source: github.com
ntnu-arl/gbplanner_ros - 2020-06-28 - Research Publication - Graph-based Exploration Planner for Subterranean Environments - source: github.com
chvmp/robots - 2020-04-14 - Research Publication - Collection of quadrupedal robots configured to work in CHAMP development framework - source: github.com
ori-drs/pronto_anymal_example - 2020-04-02 - Research Publication - Example binary running the Pronto state estimator on the ANYmal B robot - source: github.com
Dynamic Locomotion on Slippery Ground - 2019-07-25 - Research Publication - Dynamic locomotion on unstructured and uneven terrain is a challenging task in legged robotics. Especially when it comes to slippery ground conditions, common state estimation and control algorithms suffer from the usual… - source: doi.org
chvmp/champ - 2019-05-11 - Research Publication - MIT Cheetah I Implementation - source: github.com
ANYbotics/anymal_b_simple_description - 2019-04-08 - Research Publication - Simplified robot description of the ANYmal B quadrupedal robot. - source: github.com
Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints - 2019-01-31 - Research Publication - We present a trajectory optimizer for quadrupedal robots with actuated wheels. By solving for angular, vertical, and planar components of the base and feet trajectories in a cascaded fashion and by introducing a novel… - source: doi.org
Learning agile and dynamic motor skills for legged robots - 2019-01-24 - Research Publication - Physical ANYmal follows body-velocity commands, runs dynamically and recovers after falling. - source: arxiv.org
danmangles-srp/person_tracking_project - 2019-01-10 - Research Publication - A person tracking module for the ANYmal Robot - source: github.com
Robust legged robot state estimation using factor graph optimization - 2019-01-01 - Research Publication - Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in… - source: ora.ox.ac.uk
Advances in real‐world applications for legged robots - 2018-11-06 - Research Publication - Abstract This paper provides insight into the application of the quadrupedal robot ANYmal in outdoor missions of industrial inspection (autonomous robot for gas and oil sites [ARGOS] challenge) and search and rescue… - source: doi.org
Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization - 2018-02-06 - Research Publication - We present a single trajectory optimization formulation for legged locomotion that automatically determines the gait sequence, step timings, footholds, swing-leg motions, and six-dimensional body motion over nonflat… - source: doi.org
ANYbotics/grid_map - 2014-09-11 - Research Publication - Universal grid map library for mobile robotic mapping - source: github.com
ANYbotics/elevation_mapping - 2014-05-08 - Research Publication - Robot-centric elevation mapping for rough terrain navigation - source: github.com