Legged Robots

ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation CoRL 2025 Towards Embodiment Scaling Laws in Robot Locomotion CoRL 2025 Unsupervised Skill Discovery as Exploration for Learning Agile Locomotion CoRL 2025 Versatile Loco-Manipulation through Flexible Interlimb Coordination CoRL 2025 Action Space Design in Reinforcement Learning for Robot Motor Skills CoRL 2024 Adapting Humanoid Locomotion over Challenging Terrain via Two-Phase Training CoRL 2024 Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion RSS 2024 DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets CoRL 2024 Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior CoRL 2024 Humanoid Parkour Learning CoRL 2024 In-Flight Attitude Control of a Quadruped using Deep Reinforcement Learning CoRL 2024 Learning Decentralized Multi-Biped Control for Payload Transport CoRL 2024 Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope CoRL 2024 Learning Quadruped Locomotion Using Differentiable Simulation CoRL 2024 Learning Robotic Locomotion Affordances and Photorealistic Simulators from Human-Captured Data CoRL 2024 Learning to Open and Traverse Doors with a Legged Manipulator CoRL 2024 Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models CoRL 2024 One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion CoRL 2024 RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards CoRL 2024 SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience CoRL 2024 TOP-Nav: Legged Navigation Integrating Terrain, Obstacle and Proprioception Estimation CoRL 2024 UMI-on-Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers CoRL 2024 Visual Manipulation with Legs CoRL 2024 Visual Whole-Body Control for Legged Loco-Manipulation CoRL 2024 WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts CoRL 2024