mlsanityData to 14 Oct 2026

Adapting Rapid Motor Adaptation for Bipedal Robots

arXiv 2205.15299 ↗First posted 30 May 2022cs.RO cs.AI cs.CVcited by 54

Not on the map. Why?

Cited by 22 in Deep reinforcement learning methods, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Recent advances in legged locomotion have enabled quadrupeds to walk on challenging terrains. However, bipedal robots are inherently more unstable and hence it's harder to design walking controllers for them. In this work, we leverage recent advances in rapid adaptation for locomotion control, and extend them to work on bipedal robots. Similar to existing works, we start with a base policy which produces actions while taking as input an estimated extrinsics vector from an adaptation module. This extrinsics vector contains information about the environment and enables the walking controller to rapidly adapt online. However, the extrinsics estimator could be imperfect, which might lead to poor performance of the base policy which expects a perfect estimator. In this paper, we propose A-RMA (Adapting RMA), which additionally adapts the base policy for the imperfect extrinsics estimator by finetuning it using model-free RL. We demonstrate that A-RMA outperforms a number of RL-based baseline controllers and model-based controllers in simulation, and show zero-shot deployment of a single A-RMA policy to enable a bipedal robot, Cassie, to walk in a variety of different scenarios in the real world beyond what it has seen during training. Videos and results at https://ashish-kmr.github.io/a-rma/

Key facts. Cited by 54 papers in the map (data through 14 Oct 2026). Builds on 34 of its 50 references that are in the map. First posted on arXiv 30 May 2022.

Builds on

34 of 50 references.

References · 34

  1. 2017Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networkscited by 4,897
  2. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,498
  3. 2017Sim-to-Real Transfer of Robotic Control with Dynamics Randomizationcited by 672
  4. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 604
  5. 2021RMA: Rapid Motor Adaptation for Legged Robotscited by 508
  6. 2019Learning agile and dynamic motor skills for legged robotscited by 504
  7. 2018Learning to Adapt in Dynamic, Real-World Environments Through Meta-Reinforcement Learningcited by 276
  8. 2018Residual Reinforcement Learning for Robot Controlcited by 274
  9. 2020Learning Agile Robotic Locomotion Skills by Imitating Animalscited by 251
  10. 2016CAD2RL: Real Single-Image Flight without a Single Real Imagecited by 233
  11. 2018Learning to Walk via Deep Reinforcement Learningcited by 158
  12. 2017Preparing for the Unknown: Learning a Universal Policy with Online System Identificationcited by 141
22 more
  1. 2021Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robotscited by 116
  2. 2020Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Compositioncited by 96
  3. 2021Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learningcited by 92
  4. 2021Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robotscited by 76
  5. 2019Sim-to-Real Transfer for Biped Locomotioncited by 56
  6. 2019Policies Modulating Trajectory Generatorscited by 49
  7. 2019Learning Fast Adaptation with Meta Strategy Optimizationcited by 48
  8. 2018Feedback Control For Cassie With Deep Reinforcement Learningcited by 45
  9. 2018Policy Transfer with Strategy Optimizationcited by 43
  10. 2020Rapidly Adaptable Legged Robots via Evolutionary Meta-Learningcited by 43
  11. 2019Environment Probing Interaction Policiescited by 39
  12. 2020Learning Memory-Based Control for Human-Scale Bipedal Locomotioncited by 28
  13. 2018Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segwaycited by 20
  14. 2020Animated Cassie: A Dynamic Relatable Robotic Charactercited by 12
  15. 2019Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learningcited by 8
  16. 2018Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Bipedcited by 7
  17. 2013An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotioncited by 6
  18. 2021Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environmentscited by 5
  19. 2022Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Controlcited by 5
  20. 2020Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controllercited by 4
  21. 2021Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walkingcited by 4
  22. 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 14 Oct)

Citing papers per year: 2023: 8; 2024: 17; 2025: 16; 2026: 13.

54 papers.

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  1. 2024HumanPlus: Humanoid Shadowing and Imitation from Humanscited by 185
  2. 2024Deep Reinforcement Learning for Robotics: A Survey of Real-World Successescited by 176
  3. 2025ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skillscited by 130
  4. 2024Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Controlcited by 99
  5. 2024SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splattingcited by 69
  6. 2024Visual Whole-Body Control for Legged Loco-Manipulationcited by 62
  7. 2024Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learningcited by 56
  8. 2024Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfercited by 53
  9. 2024One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotioncited by 43
  10. 2023Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotioncited by 39
  11. 2023Robust and Versatile Bipedal Jumping Control through Reinforcement Learningcited by 36
  12. 2024Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policiescited by 30
38 more
  1. 2023Learning Bipedal Walking for Humanoids with Current Feedbackcited by 18
  2. 2023Transfer Learning in Robotics: An Upcoming Breakthrough? A Review of Promises and Challengescited by 18
  3. 2025Towards Embodiment Scaling Laws in Robot Locomotioncited by 16
  4. 2025DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusioncited by 15
  5. 2025Learning Humanoid Locomotion with World Model Reconstructioncited by 13
  6. 2024Dynamics as Prompts: In-Context Learning for Sim-to-Real System Identificationscited by 10
  7. 2023Learning Robust, Agile, Natural Legged Locomotion Skills in the Wildcited by 8
  8. 2024Deep Reinforcement Learning for Bipedal Locomotion: A Brief Surveycited by 7
  9. 2025Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoidscited by 7
  10. 2024BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrainscited by 6
  11. 2025Efficient Imitation under Misspecificationcited by 5
  12. 2024Following the Human Thread in Social Navigationcited by 4
  13. 2023Moving Forward by Moving Backward: Embedding Action Impact over Action Semanticscited by 3
  14. 2023Synaptic motor adaptation: A three-factor learning rule for adaptive robotic control in spiking neural networkscited by 3
  15. 2024What Teaches Robots to Walk, Teaches Them to Trade too -- Regime Adaptive Execution using Informed Data and LLMscited by 3
  16. 2025Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotioncited by 3
  17. 2025Action Flow Matching for Continual Robot Learningcited by 3
  18. 2025Booster Gym: An End-to-End Reinforcement Learning Framework for Humanoid Robot Locomotioncited by 3
  19. 2025Contrastive Representation Learning for Robust Sim-to-Real Transfer of Adaptive Humanoid Locomotioncited by 3
  20. 2024Residual Learning and Context Encoding for Adaptive Offline-to-Online Reinforcement Learningcited by 2
  21. 2024Neural Internal Model Control: Learning a Robust Control Policy via Predictive Error Feedbackcited by 2
  22. 2025Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUscited by 2
  23. 2025PolySim: Bridging the Sim-to-Real Gap for Humanoid Control via Multi-Simulator Dynamics Randomizationcited by 2
  24. 2024NaviSlim: Adaptive Context-Aware Navigation and Sensing via Dynamic Slimmable Networkscited by 1
  25. 2025VMTS: Vision-Assisted Teacher-Student Reinforcement Learning for Multi-Terrain Locomotion in Bipedal Robotscited by 1
  26. 2025Situationally-Aware Dynamics Learningcited by 1
  27. 2025CARoL: Context-aware Adaptation for Robot Learningcited by 1
  28. 2025Sim-to-Real Transfer in Deep Reinforcement Learning for Bipedal Locomotioncited by 1
  29. 2026DADP: Domain Adaptive Diffusion Policycited by 1
  30. 2026ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walkingcited by 1
  31. 2026HALO:Closing Sim-to-Real Gap for Heavy-loaded Humanoid Agile Motion Skills via Differentiable Simulationcited by 1
  32. 2026ContractionPPO: Certified Reinforcement Learning via Differentiable Contraction Layerscited by 1
  33. 2026Rapid Embodiment Adaptation for Quadrupedal Locomotioncited by 1
  34. 2023Efficient Deep Learning of Robust, Adaptive Policies using Tube MPC-Guided Data Augmentationcited by 0
  35. 2026Cooperative-Competitive Team Play of Real-World Craft Robotscited by 0
  36. 2026QuietWalk: Physics-Informed Reinforcement Learning for Ground Reaction Force-Aware Humanoid Locomotion Under Diverse Footwearcited by 0
  37. 2026Dynamics Are Learned, Not Told: Semi-Supervised Discovery of Latent Dynamics Geometries For Zero-Shot Policy Adaptationcited by 0
  38. 2026GaitSpan: Growing Humanoid Locomotion from Walking to Runningcited by 0

50 most cited of 54 All 54 (JSON)