mlsanityData to 14 Oct 2026

MetaLoco: Universal Quadrupedal Locomotion with Meta-Reinforcement Learning and Motion Imitation

arXiv 2407.17502 ↗First posted 5 Jul 2024cs.ROcited by 1

On the map: Deep reinforcement learning methods → RL for robot locomotion and manipulation

Abstract (arXiv)

This work presents a meta-reinforcement learning approach to develop a universal locomotion control policy capable of zero-shot generalization across diverse quadrupedal platforms. The proposed method trains an RL agent equipped with a memory unit to imitate reference motions using a small set of procedurally generated quadruped robots. Through comprehensive simulation and real-world hardware experiments, we demonstrate the efficacy of our approach in achieving locomotion across various robots without requiring robot-specific fine-tuning. Furthermore, we highlight the critical role of the memory unit in enabling generalization, facilitating rapid adaptation to changes in the robot properties, and improving sample efficiency.

Key facts. Cited by 1 paper in the map (data through 14 Oct 2026). Placed in RL for robot locomotion and manipulation, one of 15 directions in Deep reinforcement learning methods. Builds on 30 of its 43 references that are in the map. First posted on arXiv 5 Jul 2024.

Builds on

30 of 43 references.

References · 30

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18 more
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Built on by

Cited by year

Citing papers per year: 2025: 1.

1 paper.

  1. 2025Symmetry-Guided Memory Augmentation for Efficient Locomotion Learningcited by 3

Similar, not cited

Close in wording, no citation either way

  1. 2025Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy
  2. 2024Reinforcement Learning For Quadrupedal Locomotion: Current Advancements And Future Perspectives
  3. 2025Sampling Strategies for Robust Universal Quadrupedal Locomotion Policies
  4. 2022Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning
  5. 2025A Framework for Deploying Learning-based Quadruped Loco-Manipulation ↗
  6. 2025Acrobotics: A Generalist Approach to Quadrupedal Robots' Parkour
  7. 2026Towards Torque-Driven Reinforcement Learning for Quadruped Locomotion
  8. 2025Learning to Walk With Less: A Dyna-Style Approach to Quadrupedal Locomotion