mlsanityData to 7 Oct 2026

GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots

arXiv 2209.05309 ↗First posted 12 Sep 2022cs.RO cs.LGcited by 36

Not on the map. Why?

Abstract (arXiv)

Recent years have seen a surge in commercially-available and affordable quadrupedal robots, with many of these platforms being actively used in research and industry. As the availability of legged robots grows, so does the need for controllers that enable these robots to perform useful skills. However, most learning-based frameworks for controller development focus on training robot-specific controllers, a process that needs to be repeated for every new robot. In this work, we introduce a framework for training generalized locomotion (GenLoco) controllers for quadrupedal robots. Our framework synthesizes general-purpose locomotion controllers that can be deployed on a large variety of quadrupedal robots with similar morphologies. We present a simple but effective morphology randomization method that procedurally generates a diverse set of simulated robots for training. We show that by training a controller on this large set of simulated robots, our models acquire more general control strategies that can be directly transferred to novel simulated and real-world robots with diverse morphologies, which were not observed during training.

Key facts. Cited by 36 papers in the map (data through 7 Oct 2026). Builds on 35 of its 52 references that are in the map. First posted on arXiv 12 Sep 2022.

Builds on

35 of 52 references.

References · 35

  1. 2018BERT: Pre-training of Deep Bidirectional Transformers for Language Understandingcited by 40,204
  2. 2021Learning Transferable Visual Models From Natural Language Supervisioncited by 33,456
  3. 2020Language Models are Few-Shot Learnerscited by 32,199
  4. 2017Proximal Policy Optimization Algorithmscited by 14,441
  5. 2021Zero-Shot Text-to-Image Generationcited by 4,276
  6. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,401
  7. 2022A Generalist Agentcited by 802
  8. 2017Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrationscited by 685
  9. 2017Sim-to-Real Transfer of Robotic Control with Dynamics Randomizationcited by 616
  10. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 494
  11. 2021RMA: Rapid Motor Adaptation for Legged Robotscited by 430
  12. 2019Learning agile and dynamic motor skills for legged robotscited by 402
23 more
  1. 2021Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learningcited by 395
  2. 2018Sim-to-Real: Learning Agile Locomotion For Quadruped Robotscited by 277
  3. 2020Learning Agile Robotic Locomotion Skills by Imitating Animalscited by 229
  4. 2018Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experiencecited by 203
  5. 2018DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skillscited by 153
  6. 2018Learning to Walk via Deep Reinforcement Learningcited by 153
  7. 2022Rapid Locomotion via Reinforcement Learningcited by 130
  8. 2017Preparing for the Unknown: Learning a Universal Policy with Online System Identificationcited by 129
  9. 2016Learning Modular Neural Network Policies for Multi-Task and Multi-Robot Transfercited by 124
  10. 2020One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Controlcited by 114
  11. 2020The Ingredients of Real-World Robotic Reinforcement Learningcited by 111
  12. 2021Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robotscited by 95
  13. 2017Learning Invariant Feature Spaces to Transfer Skills with Reinforcement Learningcited by 84
  14. 2021Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real Worldcited by 64
  15. 2020Multi-expert learning of adaptive legged locomotioncited by 62
  16. 2022Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotioncited by 61
  17. 2019Sim-to-Real Transfer for Biped Locomotioncited by 50
  18. 2020RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Controlcited by 46
  19. 2018Hardware Conditioned Policies for Multi-Robot Transfer Learningcited by 42
  20. 2022Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robotcited by 32
  21. 2022Learning Free Gait Transition for Quadruped Robots via Phase-Guided Controllercited by 23
  22. 2018Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical systemcited by 15
  23. 2021DeepWalk: Omnidirectional Bipedal Gait by Deep Reinforcement Learningcited by 15

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 2; 2023: 8; 2024: 11; 2025: 8; 2026: 7.

36 papers.

Sort:

By area:

  1. 2022GNM: A General Navigation Model to Drive Any Robotcited by 161
  2. 2024Deep Reinforcement Learning for Robotics: A Survey of Real-World Successescited by 153
  3. 2024Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviationcited by 108
  4. 2024Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Controlcited by 63
  5. 2024One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotioncited by 34
  6. 2023Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotioncited by 33
  7. 2023Robust and Versatile Bipedal Jumping Control through Reinforcement Learningcited by 27
  8. 2024Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policiescited by 26
  9. 2023Universal Morphology Control via Contextual Modulationcited by 21
  10. 2023Dynamics Generalisation in Reinforcement Learning via Adaptive Context-Aware Policiescited by 18
  11. 2023DiffusionPhase: Motion Diffusion in Frequency Domaincited by 16
  12. 2023ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robotscited by 15
24 more
  1. 2025LocoFormer: Generalist Locomotion via Long-context Adaptationcited by 14
  2. 2022A System for Morphology-Task Generalization via Unified Representation and Behavior Distillationcited by 12
  3. 2025Towards Embodiment Scaling Laws in Robot Locomotioncited by 12
  4. 2024Distilling Morphology-Conditioned Hypernetworks for Efficient Universal Morphology Controlcited by 11
  5. 2024PEAC: Unsupervised Pre-training for Cross-Embodiment Reinforcement Learningcited by 9
  6. 2024QUART-Online: Latency-Free Large Multimodal Language Model for Quadruped Robot Learningcited by 9
  7. 2025Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusioncited by 5
  8. 2025SLIM: Sim-to-Real Legged Instructive Manipulation via Long-Horizon Visuomotor Learningcited by 4
  9. 2025Embodied Co-Design for Rapidly Evolving Agents: Taxonomy, Frontiers, and Challengescited by 4
  10. 2024Fourier Controller Networks for Real-Time Decision-Making in Embodied Learningcited by 3
  11. 2026Morphology-Conditioned World Model for Cross-Embodiment Quadrupedal Locomotioncited by 3
  12. 2026WOMBET: World Model-Based Experience Transfer for Robust and Sample-efficient Reinforcement Learningcited by 2
  13. 2023From Data-Fitting to Discovery: Interpreting the Neural Dynamics of Motor Control through Reinforcement Learningcited by 1
  14. 2024Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedbackcited by 1
  15. 2025GRoQ-LoCO: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasetscited by 1
  16. 2025Knowledge Diversion for Efficient Morphology Control and Policy Transfercited by 1
  17. 2026MVAdapt: Zero-Shot Multi-Vehicle Adaptation for End-to-End Autonomous Drivingcited by 1
  18. 2023A Population-Level Analysis of Neural Dynamics in Robust Legged Robotscited by 0
  19. 2024Reinforcement Learning from Wild Animal Videoscited by 0
  20. 2025Variable Stiffness for Robust Locomotion through Reinforcement Learningcited by 0
  21. 2026Cooperative-Competitive Team Play of Real-World Craft Robotscited by 0
  22. 2026Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injectioncited by 0
  23. 2026Cross-Platform Control for Autonomous Surface Vehicles via Adaptive Reinforcement Learningcited by 0
  24. 2026Bridging Body and Brain: Gene-Driven Morphology--Control Co-Designcited by 0