mlsanityData to 14 Oct 2026

DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning

arXiv 2301.10602 ↗First posted 25 Jan 2023cs.RO cs.SY eess.SYcited by 66

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Cited by 39 in Deep reinforcement learning methods, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Quadrupedal robots resemble the physical ability of legged animals to walk through unstructured terrains. However, designing a controller for quadrupedal robots poses a significant challenge due to their functional complexity and requires adaptation to various terrains. Recently, deep reinforcement learning, inspired by how legged animals learn to walk from their experiences, has been utilized to synthesize natural quadrupedal locomotion. However, state-of-the-art methods strongly depend on a complex and reliable sensing framework. Furthermore, prior works that rely only on proprioception have shown a limited demonstration for overcoming challenging terrains, especially for a long distance. This work proposes a novel quadrupedal locomotion learning framework that allows quadrupedal robots to walk through challenging terrains, even with limited sensing modalities. The proposed framework was validated in real-world outdoor environments with varying conditions within a single run for a long distance.

Key facts. Cited by 66 papers in the map (data through 14 Oct 2026). First posted on arXiv 25 Jan 2023.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 5; 2024: 10; 2025: 31; 2026: 20.

66 papers.

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  1. 2025ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skillscited by 130
  2. 2025BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholdscited by 46
  3. 2023Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Responsecited by 39
  4. 2024CTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotioncited by 25
  5. 2025LocoFormer: Generalist Locomotion via Long-context Adaptationcited by 20
  6. 2026Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matchingcited by 19
  7. 2024World Model-based Perception for Visual Legged Locomotioncited by 18
  8. 2025GRaD-Nav++: Vision-Language Model Enabled Visual Drone Navigation with Gaussian Radiance Fields and Differentiable Dynamicscited by 14
  9. 2025Bridging the Sim-to-Real Gap for Athletic Loco-Manipulationcited by 13
  10. 2025Learning Humanoid Locomotion with World Model Reconstructioncited by 13
  11. 2024A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewardscited by 12
  12. 2025A Unified and General Humanoid Whole-Body Controller for Versatile Locomotioncited by 11
38 more
  1. 2023Bridging the Sim-to-Real Gap from the Information Bottleneck Perspectivecited by 10
  2. 2023Learning to See Physical Properties with Active Sensing Motor Policiescited by 10
  3. 2024Robust Robot Walker: Learning Agile Locomotion over Tiny Trapscited by 7
  4. 2024PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotioncited by 7
  5. 2025Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motionscited by 7
  6. 2025GRaD-Nav: Efficiently Learning Visual Drone Navigation with Gaussian Radiance Fields and Differentiable Dynamicscited by 7
  7. 2024SLR: Learning Quadruped Locomotion without Privileged Informationcited by 6
  8. 2024DreamWaQ++: Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learningcited by 6
  9. 2025RAPID: Robust and Agile Planner Using Inverse Reinforcement Learning for Vision-Based Drone Navigationcited by 6
  10. 2026Deep Whole-body Parkourcited by 6
  11. 2025TAR: Teacher-Aligned Representations via Contrastive Learning for Quadrupedal Locomotioncited by 5
  12. 2026FlashSAC: Fast and Stable Off-Policy Reinforcement Learning for High-Dimensional Robot Controlcited by 5
  13. 2025Impact of Static Friction on Sim2Real in Robotic Reinforcement Learningcited by 4
  14. 2025MARG: MAstering Risky Gap Terrains for Legged Robots with Elevation Mappingcited by 4
  15. 2023A Real-World Quadrupedal Locomotion Benchmark for Offline Reinforcement Learningcited by 3
  16. 2024DexDribbler: Learning Dexterous Soccer Manipulation via Dynamic Supervisioncited by 3
  17. 2025PrivilegedDreamer: Explicit Imagination of Privileged Information for Rapid Adaptation of Learned Policiescited by 3
  18. 2025Disturbance-Aware Adaptive Compensation in Hybrid Force-Position Locomotion Policy for Legged Robotscited by 3
  19. 2025Investigating Lagrangian Neural Networks for Infinite Horizon Planning in Quadrupedal Locomotioncited by 3
  20. 2025Contrastive Representation Learning for Robust Sim-to-Real Transfer of Adaptive Humanoid Locomotioncited by 3
  21. 2024LoopSR: Looping Sim-and-Real for Lifelong Policy Adaptation of Legged Robotscited by 2
  22. 2024Reinforcement Learning For Quadrupedal Locomotion: Current Advancements And Future Perspectivescited by 2
  23. 2026Toward Reliable Sim-to-Real Predictability for MoE-based Robust Quadrupedal Locomotioncited by 2
  24. 2025Variable Stiffness for Robust Locomotion through Reinforcement Learningcited by 1
  25. 2025VMTS: Vision-Assisted Teacher-Student Reinforcement Learning for Multi-Terrain Locomotion in Bipedal Robotscited by 1
  26. 2025Unified Locomotion Transformer with Simultaneous Sim-to-Real Transfer for Quadrupedscited by 1
  27. 2025MULE: Multi-terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotioncited by 1
  28. 2025MASH: Cooperative-Heterogeneous Multi-Agent Reinforcement Learning for Single Humanoid Robot Locomotioncited by 1
  29. 2025Integrating Trajectory Optimization and Reinforcement Learning for Quadrupedal Jumping with Terrain-Adaptive Landingcited by 1
  30. 2026PUMA: Perception-driven Unified Foothold Prior for Mobility Augmented Quadruped Parkourcited by 1
  31. 2026GPO: Growing Policy Optimization for Legged Robot Locomotion and Whole-Body Controlcited by 1
  32. 2026TRANS: Terrain-aware Reinforcement Learning for Agile Navigation of Quadruped Robots under Social Interactionscited by 1
  33. 2026DreamFlow: Local Navigation Beyond Observation via Conditional Flow Matching in the Latent Spacecited by 1
  34. 2026Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Trackingcited by 1
  35. 2026Agile perceptive multi-skill locomotion for quadrupedal robots in the wildcited by 1
  36. 2023Unlock Reliable Skill Inference for Quadruped Adaptive Behavior by Skill Graphcited by 0
  37. 2025An Interpretable Neural Control Network with Adaptable Online Learning for Sample Efficient Robot Locomotion Learningcited by 0
  38. 2025Learning to Hop for a Single-Legged Robot with Parallel Mechanismcited by 0

50 most cited of 66 All 66 (JSON)