mlsanityData to 7 Oct 2026

Robust Robot Walker: Learning Agile Locomotion over Tiny Traps

arXiv 2409.07409 ↗First posted 11 Sep 2024cs.RO cs.AIcited by 7

Not on the map. Why?

Abstract (arXiv)

Quadruped robots must exhibit robust walking capabilities in practical applications. In this work, we propose a novel approach that enables quadruped robots to pass various small obstacles, or "tiny traps". Existing methods often rely on exteroceptive sensors, which can be unreliable for detecting such tiny traps. To overcome this limitation, our approach focuses solely on proprioceptive inputs. We introduce a two-stage training framework incorporating a contact encoder and a classification head to learn implicit representations of different traps. Additionally, we design a set of tailored reward functions to improve both the stability of training and the ease of deployment for goal-tracking tasks. To benefit further research, we design a new benchmark for tiny trap task. Extensive experiments in both simulation and real-world settings demonstrate the effectiveness and robustness of our method. Project Page: https://robust-robot-walker.github.io/

Key facts. Cited by 7 papers in the map (data through 7 Oct 2026). Builds on 20 of its 42 references that are in the map. First posted on arXiv 11 Sep 2024.

Builds on

20 of 42 references.

References · 20

  1. 2017Proximal Policy Optimization Algorithmscited by 14,441
  2. 2013Deep Inside Convolutional Networks: Visualising Image Classification Models and Saliency Mapscited by 2,348
  3. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 882
  4. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 494
  5. 2019Learning agile and dynamic motor skills for legged robotscited by 402
  6. 2017Emergence of Locomotion Behaviours in Rich Environmentscited by 159
  7. 2022Legged Locomotion in Challenging Terrains using Egocentric Visioncited by 131
  8. 2022Rapid Locomotion via Reinforcement Learningcited by 130
  9. 2023Extreme Parkour with Legged Robotscited by 120
  10. 2023Robot Parkour Learningcited by 115
  11. 2022Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behaviorcited by 113
  12. 2023ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robotscited by 105
8 more
  1. 2022Advanced Skills by Learning Locomotion and Local Navigation End-to-Endcited by 39
  2. 2023DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learningcited by 37
  3. 2023Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Responsecited by 31
  4. 2024Leveraging Symmetry in RL-based Legged Locomotion Controlcited by 19
  5. 2024PIE: Parkour with Implicit-Explicit Learning Framework for Legged Robotscited by 17
  6. 2023Learning Agile Locomotion on Risky Terrainscited by 15
  7. 2024Quadruped robot traversing 3D complex environments with limited perceptioncited by 8
  8. 2023Probabilistic Contact State Estimation for Legged Robots using Inertial Informationcited by 2

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 6; 2026: 1.

7 papers.

  1. 2025BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholdscited by 32
  2. 2025VR-Robo: A Real-to-Sim-to-Real Framework for Visual Robot Navigation and Locomotioncited by 20
  3. 2025MoE-Loco: Mixture of Experts for Multitask Locomotioncited by 17
  4. 2026Hiking in the Wild: A Scalable Perceptive Parkour Framework for Humanoidscited by 11
  5. 2025Learning to Walk With Less: A Dyna-Style Approach to Quadrupedal Locomotioncited by 2
  6. 2025Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teamscited by 1
  7. 2025Flexible Locomotion Learning with Diffusion Model Predictive Controlcited by 1