# Humanoid and legged locomotion world models

Area: [World models](https://mlsanity.com/wm/index.md). HTML: https://mlsanity.com/wm/humanoid-and-legged-locomotion-world-models/

## Key facts

- Humanoid and legged locomotion world models: 26 papers on arXiv since 2021 (data through 14 Oct 2026).
- 8 of its 26 mapped papers (31%) cite “RMA: Rapid Motor Adaptation for Legged Robots” (2021, arXiv 2107.04034).
- 6 of its 26 mapped papers (23%) cite “World Model-based Perception for Visual Legged Locomotion” (2024, arXiv 2409.16784).
- 4 new papers 17 Sep–14 Oct.

## Most cited here

- [RMA: Rapid Motor Adaptation for Legged Robots](https://mlsanity.com/paper/2107.04034/) (2021), cited by 8 papers here
- [World Model-based Perception for Visual Legged Locomotion](https://mlsanity.com/paper/2409.16784/) (2024), cited by 6 papers here
- [Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning](https://mlsanity.com/paper/2408.14472/) (2024), cited by 5 papers here
- [Learning Humanoid Locomotion with World Model Reconstruction](https://mlsanity.com/paper/2502.16230/) (2025), cited by 4 papers here
- [HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model](https://mlsanity.com/paper/2602.11758/) (2026), cited by 3 papers here
- [MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation](https://mlsanity.com/paper/2606.09215/) (2026), cited by 3 papers here
- [Hierarchical World Models as Visual Whole-Body Humanoid Controllers](https://mlsanity.com/paper/2405.18418/) (2024), cited by 2 papers here
- [Ego-Vision World Model for Humanoid Contact Planning](https://mlsanity.com/paper/2510.11682/) (2025), cited by 2 papers here
- [DreamPolicy: A Unified World-model Policy for Scalable Humanoid Locomotion](https://mlsanity.com/paper/2505.18780/) (2025), cited by 1 papers here
- [ω-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation](https://mlsanity.com/paper/2608.06375/) (2026), cited by 1 papers here

## New (17 Sep–14 Oct)

- [Contact-UAN: Unsupervised Actuator Networks as a Residual World Model for Humanoid Control](https://mlsanity.com/paper/2610.18991/) (2026-10-13)
- [Humanoid World Action Model With Joint State--Action Generation](https://mlsanity.com/paper/2610.12026/) (2026-10-08)
- [Being-M0.7: A Latent World-Action Model for Humanoid Robots](https://mlsanity.com/paper/2610.11283/) (2026-10-08)
- [LocoWM: High-Precision Locomotion through World-Model-Guided Residual Adaptation](https://mlsanity.com/paper/2609.39179/) (2026-09-30)