mlsanityData to 7 Oct 2026

Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots

arXiv 2103.14295 ↗First posted 26 Mar 2021cs.RO cs.AI cs.LGcited by 95

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Abstract (arXiv)

Developing robust walking controllers for bipedal robots is a challenging endeavor. Traditional model-based locomotion controllers require simplifying assumptions and careful modelling; any small errors can result in unstable control. To address these challenges for bipedal locomotion, we present a model-free reinforcement learning framework for training robust locomotion policies in simulation, which can then be transferred to a real bipedal Cassie robot. To facilitate sim-to-real transfer, domain randomization is used to encourage the policies to learn behaviors that are robust across variations in system dynamics. The learned policies enable Cassie to perform a set of diverse and dynamic behaviors, while also being more robust than traditional controllers and prior learning-based methods that use residual control. We demonstrate this on versatile walking behaviors such as tracking a target walking velocity, walking height, and turning yaw.

Key facts. Cited by 95 papers in the map (data through 7 Oct 2026). Builds on 20 of its 39 references that are in the map. First posted on arXiv 26 Mar 2021.

Builds on

20 of 39 references.

References · 20

  1. 2017Proximal Policy Optimization Algorithmscited by 14,441
  2. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,401
  3. 2017Sim-to-Real Transfer of Robotic Control with Dynamics Randomizationcited by 616
  4. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 494
  5. 2019Learning agile and dynamic motor skills for legged robotscited by 402
  6. 2018Residual Reinforcement Learning for Robot Controlcited by 242
  7. 2020Learning Agile Robotic Locomotion Skills by Imitating Animalscited by 229
  8. 2016CAD2RL: Real Single-Image Flight without a Single Real Imagecited by 227
  9. 2018DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skillscited by 153
  10. 2019Sim-to-Real Transfer for Biped Locomotioncited by 50
  11. 2019Learning Fast Adaptation with Meta Strategy Optimizationcited by 46
  12. 2018Feedback Control For Cassie With Deep Reinforcement Learningcited by 36
8 more
  1. 2020Learning Memory-Based Control for Human-Scale Bipedal Locomotioncited by 20
  2. 2018Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segwaycited by 15
  3. 2019Learning Generalizable Locomotion Skills with Hierarchical Reinforcement Learningcited by 13
  4. 2020Animated Cassie: A Dynamic Relatable Robotic Charactercited by 12
  5. 2019Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learningcited by 7
  6. 2013An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotioncited by 6
  7. 2018Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Bipedcited by 6
  8. 2020Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controllercited by 2

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 5; 2022: 20; 2023: 20; 2024: 29; 2025: 16; 2026: 5.

95 papers.

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  1. 2024OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learningcited by 167
  2. 2024HumanPlus: Humanoid Shadowing and Imitation from Humanscited by 164
  3. 2024Deep Reinforcement Learning for Robotics: A Survey of Real-World Successescited by 153
  4. 2024Open-TeleVision: Teleoperation with Immersive Active Visual Feedbackcited by 137
  5. 2023Extreme Parkour with Legged Robotscited by 120
  6. 2024Expressive Whole-Body Control for Humanoid Robotscited by 117
  7. 2023Robot Parkour Learningcited by 115
  8. 2022Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behaviorcited by 113
  9. 2025ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skillscited by 104
  10. 2022Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotioncited by 98
  11. 2024ExBody2: Advanced Expressive Humanoid Whole-Body Controlcited by 75
  12. 2022Adversarial Motion Priors Make Good Substitutes for Complex Reward Functionscited by 68
38 more
  1. 2025HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpitcited by 65
  2. 2024Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Controlcited by 63
  3. 2024Visual Whole-Body Control for Legged Loco-Manipulationcited by 58
  4. 2025AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Controlcited by 47
  5. 2022NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fieldscited by 41
  6. 2024Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Controlcited by 41
  7. 2022Adapting Rapid Motor Adaptation for Bipedal Robotscited by 39
  8. 2024Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learningcited by 38
  9. 2022GenLoco: Generalized Locomotion Controllers for Quadrupedal Robotscited by 36
  10. 2024Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfercited by 35
  11. 2023Policy Regularization with Dataset Constraint for Offline Reinforcement Learningcited by 33
  12. 2022Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robotcited by 32
  13. 2023Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotioncited by 30
  14. 2024PDP: Physics-Based Character Animation via Diffusion Policycited by 30
  15. 2022Lyapunov Density Models: Constraining Distribution Shift in Learning-Based Controlcited by 28
  16. 2022Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviorscited by 27
  17. 2023Robust and Versatile Bipedal Jumping Control through Reinforcement Learningcited by 27
  18. 2024Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policiescited by 26
  19. 2022Learning Free Gait Transition for Quadruped Robots via Phase-Guided Controllercited by 23
  20. 2025HuB: Learning Extreme Humanoid Balancecited by 21
  21. 2024CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Modelscited by 19
  22. 2021Vision-Guided Quadrupedal Locomotion in the Wild with Multi-Modal Delay Randomizationcited by 18
  23. 2022Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learningcited by 17
  24. 2021Model-free Reinforcement Learning for Robust Locomotion using Demonstrations from Trajectory Optimizationcited by 16
  25. 2024Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robotscited by 16
  26. 2024Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Modelscited by 14
  27. 2025Design and Control of a Bipedal Robotic Charactercited by 12
  28. 2025Robust Gymnasium: A Unified Modular Benchmark for Robust Reinforcement Learningcited by 12
  29. 2023Controlling the Solo12 Quadruped Robot with Deep Reinforcement Learningcited by 11
  30. 2023Hierarchical Reinforcement Learning for Power Network Topology Controlcited by 11
  31. 2024AddBiomechanics Dataset: Capturing the Physics of Human Motion at Scalecited by 11
  32. 2021OstrichRL: A Musculoskeletal Ostrich Simulation to Study Bio-mechanical Locomotioncited by 10
  33. 2026HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videoscited by 10
  34. 2024Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllerscited by 9
  35. 2025GROVE: A Generalized Reward for Learning Open-Vocabulary Physical Skillcited by 9
  36. 2023Benchmarking Potential Based Rewards for Learning Humanoid Locomotioncited by 7
  37. 2024Vegetable Peeling: A Case Study in Constrained Dexterous Manipulationcited by 7
  38. 2024BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrainscited by 6

50 most cited of 95 All 95 (JSON)