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/
BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds
Shanghai AI Laboratory（上海人工智能实验室）；Shanghai Jiao Tong University（上海交通大学）；Zhejiang University（浙江大学）；The University of Hong Kong（香港大学）；The Chinese University of Hong Kong（香港中文大学）
Learning and Adapting Agile Locomotion Skills by Transferring Experience
UC Berkeley（加州大学伯克利分校）；Berkeley AI Research（伯克利人工智能研究院）；Google Research（谷歌研究院）；Georgia Institute of Technology（佐治亚理工学院）；Simon Fraser University（西蒙菲莎大学）
Integrating Learning-Based Manipulation and Physics-Based Locomotion for Whole-Body Badminton Robot Control
School of Computer Science and Technology, Shandong University（山东大学计算机科学与技术学院）；Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所）；DeepCode Robotics（DeepCode机器人公司）；Department of Sports, Shanghai Jiao Tong University（上海交通大学体育学院）
StyleLoco: Generative Adversarial Distillation for Natural Humanoid Robot Locomotion
National Key Laboratory of General Artificial Intelligence, BIGAI（通用人工智能国家重点实验室，BIGAI）；School of Control Science and Engineering, Shandong University（山东大学控制科学与工程学院）；Huazhong University of Science and Technology（华中科技大学）
Evaluation of an Actuated Spine in Agile Quadruped Locomotion
Department of Computer Science, Technical University of Darmstadt（德意志技术大学达姆施塔特分校计算机科学系）；IDEAS Research Institute（IDEAS研究所）；Institute of Robotics and Machine Intelligence, Poznan University of Technology（波兹南技术大学机器人与机器智能研究所）
TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion
MarmotLab, National University of Singapore（马尔莫实验室，新加坡国立大学）；Center of X-Mechanics, Zhejiang University（浙大X力学中心）；South China University of Technology（华南理工大学）
Diffusion-based learning of contact plans for agile locomotion
Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Germany（慕尼黑机器人与机器智能研究所，慕尼黑技术大学）；Tandon School of Engineering, New York University, USA（纽约大学土曼工学院）；Max-Planck Institute for Intelligent Systems, Tübingen, Germany（马克斯·普朗克智能系统研究所，图宾根）
Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding
Robotic Systems Lab, ETH Zurich, Switzerland（机器人系统实验室，苏黎世联邦理工学院，瑞士）；Secure, Reliable, and Intelligent Systems Lab, ETH Zurich, Switzerland（安全、可靠和智能系统实验室，苏黎世联邦理工学院，瑞士）；ETH AI Center, Switzerland（苏黎世联邦理工学院人工智能中心，瑞士）
Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion
Institute for Robotics and Intelligent Machines, Georgia Institute of Technology（佐治亚理工学院机器人与智能机器研究所）；MIT Biomimetic Robotics Lab（麻省理工学院仿生机器人实验室）；NAVER LABS（NAVER实验室）
Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds
Department of Mechanical and Civil Engineering, California Institute of Technology（机械与土木工程系，加州理工学院）；Department of Computing and Mathematical Sciences, California Institute of Technology（计算与数学科学系，加州理工学院）
ATRos: Learning Energy-Efficient Agile Locomotion for Wheeled-legged Robots
Shanghai Huawei Technologies Co., Ltd.（上海华为技术有限公司）；College of Future Information Technology, Fudan University（复旦大学未来信息科技学院）；Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所）；School of Aeronautic and Astronautics, Zhejiang University（浙江大学航空宇航学院）；School of Electronics and Communication Engineering, Sun Yat-sen University（中山大学电子与通信工程学院）
KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability
Humanoids and Human Centered Mechatronics, Fondazione Istituto Italiano di Tecnologia（人机一体化机械系统，意大利理工研究院）；Advanced Robotics Facility, Fondazione Istituto Italiano di Tecnologia（先进机器人设施，意大利理工研究院）
A compliant ankle-actuated compass walker with triggering timing control
School of Physics, Georgia Institute of Technology, Atlanta, USA（物理学院，佐治亚理工学院，美国亚特兰大）；Electrical and Electronics Engineering, Hacettepe University, Ankara, Türkiye（电子与电气工程，哈科特佩大学，土耳其安卡拉）
Agile asymmetric multi-legged locomotion: contact planning via geometric mechanics and spin model duality
Department of Mechanical Engineering, Pennsylvania State University（宾夕法尼亚州立大学机械工程系）；MIT Improbable AI Lab, Maschusetts Institute of Technology（麻省理工学院Improbable AI实验室）；Department of Physics, Georgia Institute of Technology（佐治亚理工学院物理系）；Department of Physics, Tsinghua University（清华大学物理系）
