mlsanityData to 14 Oct 2026

Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs

arXiv 2504.00614 ↗First posted 1 Apr 2025cs.ROcited by 2

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

Abstract (arXiv)

Sim-to-real reinforcement learning (RL) for humanoid robots with high-gear ratio actuators remains challenging due to complex actuator dynamics and the absence of torque sensors. To address this, we propose a novel RL framework leveraging foot-mounted inertial measurement units (IMUs). Instead of pursuing detailed actuator modeling and system identification, we utilize foot-mounted IMU measurements to enhance rapid stabilization capabilities over challenging terrains. Additionally, we propose symmetric data augmentation dedicated to the proposed observation space and random network distillation to enhance bipedal locomotion learning over rough terrain. We validate our approach through hardware experiments on a miniature-sized humanoid EVAL-03 over a variety of environments. The experimental results demonstrate that our method improves rapid stabilization capabilities over non-rigid surfaces and sudden environmental transitions.

Key facts. Cited by 2 papers 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 25 of its 33 references that are in the map. First posted on arXiv 1 Apr 2025.

Builds on

25 of 33 references.

Closest ancestors · 1

Same direction, newest first

  1. 2024Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control30 Jan

Other references · 24

  1. 2017Proximal Policy Optimization Algorithmscited by 15,215
  2. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,498
  3. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
  4. 2018Exploration by Random Network Distillationcited by 993
  5. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 604
  6. 2021Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learningcited by 512
  7. 2016Temporal Convolutional Networks for Action Segmentation and Detectioncited by 508
  8. 2021RMA: Rapid Motor Adaptation for Legged Robotscited by 508
  9. 2019Learning agile and dynamic motor skills for legged robotscited by 504
  10. 2022Learning robust perceptive locomotion for quadrupedal robots in the wildcited by 382
  11. 2018Sim-to-Real: Learning Agile Locomotion For Quadruped Robotscited by 319
  12. 2023Orbit: A Unified Simulation Framework for Interactive Robot Learning Environmentscited by 295
12 more
  1. 2023Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learningcited by 133
  2. 2024Humanoid Parkour Learningcited by 96
  3. 2019Sim-to-Real Transfer for Biped Locomotioncited by 56
  4. 2022Adapting Rapid Motor Adaptation for Bipedal Robotscited by 54
  5. 2024Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfercited by 53
  6. 2024Symmetry Considerations for Learning Task Symmetric Robot Policiescited by 28
  7. 2024Berkeley Humanoid: A Research Platform for Learning-based Controlcited by 24
  8. 2023Learning Bipedal Walking for Humanoids with Current Feedbackcited by 18
  9. 2025Design and Control of a Bipedal Robotic Charactercited by 18
  10. 2021Learning Bipedal Robot Locomotion from Human Movementcited by 7
  11. 2022Sim-to-Real Transfer of Compliant Bipedal Locomotion on Torque Sensor-Less Gear-Driven Humanoidcited by 4
  12. 2023Multi-IMU Proprioceptive State Estimator for Humanoid Robotscited by 2

Built on by

Cited by year (2026 to 14 Oct)

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

2 papers.

  1. 2025Towards Generalizable Human Activity Recognition: A Surveycited by 6
  2. 2026Towards Miniature Humanoid Tele-Loco-Manipulation Using Virtual Reality and Reinforcement Learningcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning
  2. 2024Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains
  3. 2026Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds
  4. 2025RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain
  5. 2026MARCH: Model-Assisted Reinforcement Learning for the Perceptive Control of Humanoids over Sparse Footholds
  6. 2026SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning
  7. 2024Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning
  8. 2025Constrained Reinforcement Learning for Unstable Point-Feet Bipedal Locomotion Applied to the Bolt Robot