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This is not an exhaustive database of robotics papers. It surfaces research artifacts linked to products and companies tracked by Korthos. Team and country coverage is partial.

Proprioceptive Invariant State Estimation for Humanoid Robots on Non-Inertial Ground
2026-06-17 · Purdue UniversitySource
Preprint
Digit
Purdue University
Perception
Agility and AI
2026-03-19 · Agility RoboticsSource
Project Page
Agility Robotics
Agility Robotics
Locomotion
SAC-Based Gait Generation and Robust Balance Control for Cassie Robots in Unknown Terrain
2026-02-15 · University of Zurich · CHSource
Paper
Cassie
University of Zurich
Locomotion
Efficient and Compliant Control Framework for Versatile Human-Humanoid Collaborative Transportation
2025-12-08 · University of DelawareSource
Paper
Digit
University of Delaware
Locomotion
Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
2025-11-06 · NVIDIASource
Paper
DigitIsaac Lab
NVIDIA
Simulation / whole body control
Agility Robotics trains a whole-body control foundation model for Digit
2025-08-28 · Agility Robotics · United StatesSource
Model
Digit
Agility Robotics
Whole-body control / Robot learning
No More Marching: Learning Humanoid Locomotion for Short-Range SE(2) Targets
2025-08-16 · Oregon State University / Agility RoboticsSource
Paper
Digit (original platform)
Oregon State University / Agility Robotics
locomotion / planning
Dynamic subgoal pursuit paper validates humanoid navigation using Digit simulation
2025-06-02 · The Ohio State University · United StatesSource
Paper
Digit
The Ohio State University
Navigation
PPF paper improves Digit locomotion with model-assumption-based regularization
2025-04-14 · Georgia Institute of Technology / Korea Advanced Institute of Science and TechnologySource
Model
Digit (original platform)
Georgia Institute of Technology / Korea Advanced Institute of Science and Technology
Reinforcement learning / locomotion
Challenging-terrain locomotion paper trains Digit for real-world outdoor walking
2024-10-04 · University of California, BerkeleySource
Paper
Digit (original platform)
University of California, Berkeley
Reinforcement learning / locomotion
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation
2024-09-30 · Georgia Institute of TechnologySource
Paper
Digit
Georgia Institute of Technology
Locomotion
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
2024-09-12 · Yuan Gao / Victor ParedesSource
Paper
Digit
Yuan Gao / Victor Paredes
Locomotion
Digit system-identification paper improves constrained-robot model tracking
2024-08-16 · University of Michigan / University of Stuttgart · United StatesSource
Model
Digit (original platform)
University of Michigan / University of Stuttgart
Robot learning
Multi-biped payload-transport paper demonstrates coordinated Cassie teams
2024-06-25 · Bikram Pandit / Ashutosh GuptaSource
Paper
Cassie
Bikram Pandit / Ashutosh Gupta
Robot learning
Revisiting Reward Design and Evaluation for Robust Humanoid Standing and Walking
2024-04-30 · Oregon State UniversitySource
Paper
Digit
Oregon State University
Locomotion
Digit social-navigation paper combines MPC with zonotope neural networks
2024-03-25 · Georgia Institute of Technology / Kuwait UniversitySource
Paper
Digit
Georgia Institute of Technology / Kuwait University
Navigation
Next-token prediction paper demonstrates real-world humanoid locomotion on Digit
2024-02-29 · University of California, BerkeleySource
Paper
Digit (original platform)
University of California, Berkeley
Reinforcement learning / locomotion
IJRR study demonstrates broad dynamic locomotion skills on Cassie
2024-01-30 · Research teamSource
Paper
Cassie
Research team
Reinforcement learning / locomotion
Safe whole-body task-space control paper validates hardware experiments on Digit
2023-10-12 · The Ohio State UniversitySource
Paper
Digit (original platform)
The Ohio State University
Robot learning
Words into Action: Learning Diverse Humanoid Robot Behaviors using Language Guided Iterative Motion Refinement
2023-10-10 · Georgia Institute of TechnologySource
Paper
Digit
Georgia Institute of Technology
Locomotion
Cassie constrained-foothold paper demonstrates MPC footstep control
2023-09-14 · Brian Acosta / Michael PosaSource
Paper
Cassie
Brian Acosta / Michael Posa
Robot learning
RSS jumping-control paper transfers versatile dynamic jumps to Cassie hardware
2023-02-19 · Research teamSource
Paper
Cassie
Research team
Robot learning
Leveraging Sequentiality in Reinforcement Learning from a Single Demonstration
2022-11-09 · MIT · United StatesSource
Paper
Cassie
MIT
locomotion / Perception
Value Summation: A Novel Scoring Function for MPC-based Model-based Reinforcement Learning
2022-09-16 · MIT · United StatesSource
Paper
Cassie
MIT
locomotion / Perception
Learning Dynamic Bipedal Walking Across Stepping Stones
2022-05-03 · MIT · United StatesSource
Paper
Cassie
MIT
locomotion / Perception
Custom Sine Waves Are Enough for Imitation Learning of Bipedal Gaits with Different Styles
2022-04-08 · MIT · United StatesSource
Paper
Cassie
MIT
locomotion / Perception
Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces
2022-01-25 · University of Massachusetts Lowell / Purdue University / University of Rhode IslandSource
Paper
Digit
University of Massachusetts Lowell / Purdue University / University of Rhode Island
Locomotion
Cassie ALIP-MPC paper demonstrates terrain-adaptive bipedal locomotion
2021-09-30 · Grant Gibson / Oluwami Dosunmu-OgunbiSource
Paper
Cassie
Grant Gibson / Oluwami Dosunmu-Ogunbi
Reinforcement learning / locomotion
Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking
2021-07-09 · MIT · United StatesSource
Paper
Cassie
MIT
locomotion / Navigation
Digit paper learns robust bipedal walking with reinforcement learning
2021-03-29 · The Ohio State University / Southern University of Science and TechnologySource
Paper
Digit (original platform)
The Ohio State University / Southern University of Science and Technology
Reinforcement learning / locomotion
Parameterized locomotion RL paper transfers robust walking policies to Cassie
2021-03-26 · Zhongyu Li / Xuxin ChengSource
Paper
Cassie
Zhongyu Li / Xuxin Cheng
Reinforcement learning / locomotion
Cassie sim-to-real paper learns all common bipedal gaits
2020-11-02 · Jonah Siekmann / Yesh GodseSource
Paper
Cassie
Jonah Siekmann / Yesh Godse
Reinforcement learning / locomotion
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics\n Through Adaptive Neural Network Controller
2020-08-01 · Guillermo A. Castillo / Bowen WengSource
Paper
Cassie
Guillermo A. Castillo / Bowen Weng
Locomotion
Cassie Hovershoes paper demonstrates multimodal bipedal riding control
2019-07-26 · Shuxiao Chen / Jonathan RogersSource
Paper
Cassie
Shuxiao Chen / Jonathan Rogers
Robot learning
Deep-RL policy-transfer paper reports hardware results on ATRIAS
2018-09-28 · Tianyu Li / Akshara RaiSource
Paper
ATRIAS
Tianyu Li / Akshara Rai
Robot learning
Cassie feedback-control paper demonstrates walking, standing, and Segway riding
2018-09-19 · Yukai Gong / Ross HartleySource
Paper
Cassie
Yukai Gong / Ross Hartley
Reinforcement learning / locomotion
Bayesian-optimization study tunes walking controllers on ATRIAS hardware
2017-09-18 · Akshara Rai / Rika AntonovaSource
Paper
ATRIAS
Akshara Rai / Rika Antonova
Reinforcement learning / locomotion

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