mlsanityData to 14 Oct 2026

Multi-Embodiment Locomotion at Scale with extreme Embodiment Randomization

arXiv 2509.02815 ↗First posted 2 Sep 2025cs.RO cs.LGcited by 4

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Abstract (arXiv)

We present a single, general locomotion policy trained on a diverse collection of 50 legged robots. By combining an improved embodiment-aware architecture (URMAv2) with a performance-based curriculum for extreme Embodiment Randomization, our policy learns to control millions of morphological variations. Our policy achieves zero-shot transfer to unseen real-world humanoid and quadruped robots.

Key facts. Cited by 4 papers in the map (data through 14 Oct 2026). Builds on 14 of its 17 references that are in the map. First posted on arXiv 2 Sep 2025.

Builds on

14 of 17 references.

References · 14

  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. 2016Weight Normalization: A Simple Reparameterization to Accelerate Training of Deep Neural Networkscited by 543
  4. 2023Orbit: A Unified Simulation Framework for Interactive Robot Learning Environmentscited by 295
  5. 2022Rapid Locomotion via Reinforcement Learningcited by 168
  6. 2023Extreme Parkour with Legged Robotscited by 164
  7. 2022Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behaviorcited by 138
  8. 2022MetaMorph: Learning Universal Controllers with Transformerscited by 89
  9. 2024One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotioncited by 43
  10. 2025HITTER: A HumanoId Table TEnnis Robot via Hierarchical Planning and Learningcited by 33
  11. 2025Learning coordinated badminton skills for legged manipulatorscited by 19
  12. 2025Towards Embodiment Scaling Laws in Robot Locomotioncited by 16
2 more
  1. 2023RL-X: A Deep Reinforcement Learning Library (not only) for RoboCupcited by 8
  2. 2025Gait in Eight: Efficient On-Robot Learning for Omnidirectional Quadruped Locomotioncited by 8

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 4.

4 papers.

  1. 2026Shape Your Body: Value Gradients for Multi-Embodiment Robot Designcited by 2
  2. 2026Rapid Embodiment Adaptation for Quadrupedal Locomotioncited by 1
  3. 2026MorFiC: Fixing Value Miscalibration for Zero-Shot Quadruped Transfercited by 0
  4. 2026VENOM: Versatile Embodied Network for Omni-bodied Motion trackingcited by 0