mlsanityData to 14 Oct 2026

Rapid Locomotion via Reinforcement Learning

arXiv 2205.02824 ↗First posted 5 May 2022cs.RO cs.AI cs.LGcited by 168

Not on the map. Why?

Cited by 78 in Deep reinforcement learning methods, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Agile maneuvers such as sprinting and high-speed turning in the wild are challenging for legged robots. We present an end-to-end learned controller that achieves record agility for the MIT Mini Cheetah, sustaining speeds up to 3.9 m/s. This system runs and turns fast on natural terrains like grass, ice, and gravel and responds robustly to disturbances. Our controller is a neural network trained in simulation via reinforcement learning and transferred to the real world. The two key components are (i) an adaptive curriculum on velocity commands and (ii) an online system identification strategy for sim-to-real transfer leveraged from prior work. Videos of the robot's behaviors are available at: https://agility.csail.mit.edu/

Key facts. Cited by 168 papers in the map (data through 14 Oct 2026). Builds on 25 of its 53 references that are in the map. First posted on arXiv 5 May 2022.

Builds on

25 of 53 references.

References · 25

  1. 2017Proximal Policy Optimization Algorithmscited by 15,215
  2. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,498
  3. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
  4. 2019Solving Rubik's Cube with a Robot Handcited by 734
  5. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 604
  6. 2021Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learningcited by 512
  7. 2021RMA: Rapid Motor Adaptation for Legged Robotscited by 508
  8. 2019Learning agile and dynamic motor skills for legged robotscited by 504
  9. 2019Learning by Cheatingcited by 383
  10. 2022Learning robust perceptive locomotion for quadrupedal robots in the wildcited by 382
  11. 2018Sim-to-Real: Learning Agile Locomotion For Quadruped Robotscited by 319
  12. 2017Teacher-Student Curriculum Learningcited by 210
13 more
  1. 2021A System for General In-Hand Object Re-Orientationcited by 165
  2. 2018Multi-task Deep Reinforcement Learning with PopArtcited by 141
  3. 2021Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learningcited by 92
  4. 2022Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotioncited by 88
  5. 2021Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robotscited by 76
  6. 2020Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotioncited by 59
  7. 2019Towards Practical Multi-Object Manipulation using Relational Reinforcement Learningcited by 55
  8. 2019Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Controlcited by 54
  9. 2020ALLSTEPS: Curriculum-driven Learning of Stepping Stone Skillscited by 54
  10. 2021Learning to Jump from Pixelscited by 45
  11. 2021The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviorscited by 32
  12. 2016Structured contact force optimization for kino-dynamic motion generationcited by 6
  13. 2019STANCE: Locomotion Adaptation over Soft Terraincited by 4

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 9; 2023: 28; 2024: 54; 2025: 50; 2026: 27.

168 papers.

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  1. 2023Eureka: Human-Level Reward Design via Coding Large Language Modelscited by 571
  2. 2024NaVILA: Legged Robot Vision-Language-Action Model for Navigationcited by 211
  3. 2023Extreme Parkour with Legged Robotscited by 164
  4. 2023Robot Parkour Learningcited by 149
  5. 2024Open-TeleVision: Teleoperation with Immersive Active Visual Feedbackcited by 145
  6. 2024Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulationcited by 144
  7. 2024Expressive Whole-Body Control for Humanoid Robotscited by 139
  8. 2022Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behaviorcited by 138
  9. 2023Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learningcited by 133
  10. 2025ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skillscited by 130
  11. 2022Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotioncited by 121
  12. 2024Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Controlcited by 99
38 more
  1. 2024From Imitation to Refinement -- Residual RL for Precise Assemblycited by 90
  2. 2024DrEureka: Language Model Guided Sim-To-Real Transfercited by 83
  3. 2024Agile But Safe: Learning Collision-Free High-Speed Legged Locomotioncited by 73
  4. 2025Residual Off-Policy RL for Finetuning Behavior Cloning Policiescited by 55
  5. 2024Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfercited by 53
  6. 2024Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Controlcited by 51
  7. 2025AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Controlcited by 51
  8. 2024DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasetscited by 49
  9. 2022GenLoco: Generalized Locomotion Controllers for Quadrupedal Robotscited by 48
  10. 2023Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotioncited by 47
  11. 2025BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholdscited by 46
  12. 2023Prompt a Robot to Walk with Large Language Modelscited by 45
  13. 2023Neural Volumetric Memory for Visual Locomotion Controlcited by 44
  14. 2024One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotioncited by 43
  15. 2023Barkour: Benchmarking Animal-level Agility with Quadruped Robotscited by 41
  16. 2023DribbleBot: Dynamic Legged Manipulation in the Wildcited by 40
  17. 2023Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Responsecited by 39
  18. 2023Robust and Versatile Bipedal Jumping Control through Reinforcement Learningcited by 36
  19. 2025Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstrationcited by 34
  20. 2023Learning and Adapting Agile Locomotion Skills by Transferring Experiencecited by 33
  21. 2024Learning Quadruped Locomotion Using Differentiable Simulationcited by 32
  22. 2024Rank2Reward: Learning Shaped Reward Functions from Passive Videocited by 32
  23. 2024Demonstrating Agile Flight from Pixels without State Estimationcited by 31
  24. 2022Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervisioncited by 30
  25. 2023RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotioncited by 26
  26. 2024CTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotioncited by 25
  27. 2022Redeeming Intrinsic Rewards via Constrained Optimizationcited by 24
  28. 2023Grow Your Limits: Continuous Improvement with Real-World RL for Robotic Locomotioncited by 24
  29. 2022Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learningcited by 23
  30. 2024CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learningcited by 23
  31. 2025MoE-Loco: Mixture of Experts for Multitask Locomotioncited by 23
  32. 2024Learning Force Control for Legged Manipulationcited by 21
  33. 2023ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robotscited by 19
  34. 2025Learning coordinated badminton skills for legged manipulatorscited by 19
  35. 2023Learning Bipedal Walking for Humanoids with Current Feedbackcited by 18
  36. 2023DEFT: Dexterous Fine-Tuning for Real-World Hand Policiescited by 17
  37. 2024Continuous Control with Coarse-to-fine Reinforcement Learningcited by 17
  38. 2025Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-Tuningcited by 17

50 most cited of 168 All 168 (JSON)