Agility opens Fremont physical AI facility - 2026-07-16 - Article - The 60,000-square-foot site adds software, testing and field-operations capacity alongside Digit manufacturing at RoboFab.
Proprioceptive Invariant State Estimation for Humanoid Robots on Non-Inertial Ground - 2026-06-17 - Research Publication - Digit maintains state estimates while standing, squatting and walking on non-inertial ground. - source: arxiv.org
Efficient and Compliant Control Framework for Versatile Human-Humanoid Collaborative Transportation - 2025-12-08 - Research Publication - We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to… - source: arxiv.org
Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning - 2025-11-06 - Research Publication - Isaac Lab models Digit locomotion with a ray-cast height scanner and closed-loop kinematic chains for simulated perceptive-learning benchmarks. - source: arxiv.org
Agility Robotics trains a whole-body control foundation model for Digit - 2025-08-28 - Research Publication - Agility Robotics describes a whole-body-control foundation model for Digit. The research uses Digit as the humanoid deployment platform for coordinated mobility, manipulation, and task behavior. - source: agilityrobotics.com
Dynamic subgoal pursuit paper validates humanoid navigation using Digit simulation - 2025-06-02 - Research Publication - Safe and real-time navigation is fundamental for humanoid robot applications. However, existing bipedal robot navigation frameworks often struggle to balance computational efficiency with the precision required for stable… - source: arxiv.org
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation - 2024-09-30 - Research Publication - Humanoid robots are designed to perform diverse loco-manipulation tasks. However, they face challenges due to their high-dimensional and unstable dynamics, as well as the complex contact-rich nature of the tasks.… - source: arxiv.org
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces - 2024-09-12 - Research Publication - Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world… - source: arxiv.org
Revisiting Reward Design and Evaluation for Robust Humanoid Standing and Walking - 2024-04-30 - Research Publication - A necessary capability for humanoid robots is the ability to stand and walk while rejecting natural disturbances. Recent progress has been made using sim-to-real reinforcement learning (RL) to train such locomotion… - source: arxiv.org
Digit social-navigation paper combines MPC with zonotope neural networks - 2024-03-25 - Research Publication - This paper covers Digit social-navigation paper combines MPC with zonotope neural networks for Digit in Navigation. - source: arxiv.org
Words into Action: Learning Diverse Humanoid Robot Behaviors using Language Guided Iterative Motion Refinement - 2023-10-10 - Research Publication - Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and… - source: arxiv.org
Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces - 2022-01-25 - Research Publication - State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-explored problem. This paper introduces an… - source: arxiv.org