UniReLo: Learning a Unified Humanoid Policy from Fall Recovery to Locomotion across Diverse Terrains
School of Control Science and Engineering, Shandong University（山东大学控制科学与工程学院）；Key Laboratory of Machine Intelligence and System Control, Ministry of Education（教育部机器智能与系统控制重点实验室）
Xiaoyu Xu, Zhiming Chen, Yuenan Zhao, Ran Song, Wei Zhang
Reliable fall recovery, which commonly aims at attaining a nominal upright posture, is essential for the autonomous operation of humanoid robots in unstructured field environments. Although existing posture-centered methods can synthesize coordinated whole-body recovery motions from diverse fallen configurations, they may result in a dynamically fragile support state, leading to secondary loss of balance or unstable resumption of commanded locomotion, particularly under terrain-dependent contact conditions. We propose to learn a unified humanoid policy from fall recovery to locomotion (UniReLo) across heterogeneous field terrains. UniReLo leverages continuously gated multi-scale motion priors to modulate frame-, sequence-, and gait-level adversarial supervision according to recovery progress, preserving the distinct temporal structures of recovery and locomotion without requiring fixed-threshold switching. In addition, terrain-conditioned recovery guidance evaluates the evolving support state using a terrain-relative support representation and support-feasibility assessment. Simulation and outdoor real-world experiments demonstrate that UniReLo can deliver stable and continuous recovery-to-locomotion behaviors for humanoids across diverse field terrains. The supplementary video is available at https://vsislab.github.io/UniReLo/.
GM-Loco: Terrain-Adaptive Humanoid Locomotion on Granular Media
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）；School of Physics, Georgia Institute of Technology（佐治亚理工学院物理学院）；Northeastern University（东北大学）
Humanoid Path Planning over Rough Terrain using Traversability Assessment
Institute of Human and Machine Cognition（人类与机器认知研究所）；University of West Florida（西佛罗里达大学）；Pusan National University（釜山国立大学）；Boardwalk Robotics, Inc.（Boardwalk机器人公司）
我们提出了一个规划框架，旨在人形导航具有挑战性的地形。该框架旨在使用2.5D高度图规划可遍历，平滑和无碰撞的路径。规划器由两个阶段组成。第一阶段由A* 规划器组成，该规划器使用地形特征对可通行性进行推理。提出了一种新的成本函数，它编码的双足步态直接到图形结构，使自然的路径，是强大的小差距的可通行性。第二阶段是一个优化框架，在进一步提高可遍历性的同时平滑路径。该规划器在模拟中的各种地形上进行了测试，并与脚步规划器和平衡控制器相结合，以创建一个集成的导航框架，该框架在DRC Boston Dynamics Atlas机器人上进行了演示。
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）
MoRE: Mixture of Residual Experts for Humanoid Lifelike Gaits Learning on Complex Terrains
University of Science and Technology of China（科学技术大学）；Institute of Artificial Intelligence (TeleAI), China Telecom（人工智能研究所（TeleAI））；Harbin Engineering University（哈尔滨工程大学）；ShanghaiTech University（上海科技大学）
Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning
CNRS-AIST JRL (Joint Robotics Laboratory) IRL, National Institute of Advanced Industrial Science and Technology (AIST), Japan（日本国家先进工业科学与技术研究院（AIST））；University of Tsukuba（筑波大学）；Department of Computer Science, Stanford University（斯坦福大学计算机科学系）
VB-Com: Learning Vision-Blind Composite Humanoid Locomotion Against Deficient Perception
Shanghai AI Laboratory（上海人工智能实验室）；The University of Hong Kong（香港大学）；Shanghai Jiao Tong University（上海交通大学）；Zhejiang University（浙江大学）；The Chinese University of Hong Kong（香港中文大学）
Terrain Traversal Without Motion Priors: Expert-Routed Humanoid Locomotion at Deployment Fidelity
VinRobotics（维诺机器人公司）；German Research Center for Artificial Intelligence (DFKI)（德国人工智能研究中心）；University of Stuttgart（斯图加特大学）；International Max Planck Research School for Intelligent Systems (IMPRS-IS)（国际马克斯·普朗克智能系统研究院）；Center for AI Research (CAIR), VinUniversity（VinUniversity人工智能研究中心）；Intelligent Autonomous Systems, TU Darmstadt（达姆施塔特工业大学智能自主系统研究所）
Gait-Adaptive Perceptive Humanoid Locomotion with Real-Time Under-Base Terrain Reconstruction
Department of Electronic Engineering and Information Science (EEIS), University of Science and Technology of China（电子工程与信息科学系，中国科学技术大学）；LimX Dynamics（LimX动力学）；Hong Kong University of Science and Technology（香港科技大学）；School of Mechanics Engineering, Harbin Institute of Technology (HIT)（机械工程学院，哈尔滨工业大学）；Department of Computing, The Hong Kong Polytechnic University（计算学院，香港理工大学）；Zhejiang University-University of Illinois Urbana-Champaign Institute (ZJUI)（浙江大学-伊利诺伊大学厄巴纳-香槟分校联合研究所）
CReF: Cross-modal and Recurrent Fusion for Depth-conditioned Humanoid Locomotion
Institute of Cyber-Systems and Control, Zhejiang University（浙江大学控制科学与工程学院）；School of Control Science and Engineering, Shandong University（山东大学控制科学与工程学院）
Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains
Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）；The Chinese University of Hong Kong（香港中文大学）；University of Science and Technology of China（中国科学技术大学）；University of Tokyo（东京大学）；Shanghai Jiaotong University（上海交通大学）
Artificial General Intelligence Institute, University of Science and Technology of China（中国科学技术大学通用人工智能研究院）；X-Humanoid（X-人形机器人）；The University of Hong Kong（香港大学）；The Australian National University（澳大利亚国立大学）；The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；Shanghai Jiao Tong University（上海交通大学）；The Chinese University of Hong Kong（香港中文大学）；Tsinghua University（清华大学）
TACT-ful: Multi-Channel Terrain Affordance and Compliance Training for Payload-Robust Perceptive Humanoid Locomotion
VinRobotics, Vietnam（越南VinRobotics）；Center for AI Research, VinUniversity, Vietnam（越南VinUniversity人工智能研究中心）；Intelligent Autonomous Systems, TU Darmstadt, Germany（德国达姆施塔特工业大学智能自主系统）
CoRe-MoE: Contrastive Reweighted Mixture of Experts for Multi-Terrain Humanoid Locomotion with Gait Adaptation
Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；South China Agricultural University（华南农业大学）；Guangdong University of Technology（广东工业大学）
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）
NEXUS: Perceptive Whole-Body Control for Terrain-Adaptive Teleoperation
The Institute of Artificial Intelligence, China Telecom (TeleAI)（中国电信人工智能研究院（TeleAI））；Shanghai Jiao Tong University（上海交通大学）；The University of Hong Kong（香港大学）；Zhejiang University（浙江大学）
ParkourFormer: Integrating Predictive Supervision and Sequence Modeling into Parkour Locomotion
The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；CLAI-LAB, CL-TECH（CLAI实验室，CL-TECH）；South China Agricultural University（华南农业大学）；Guangdong University of Technology（广东工业大学）
Explicit Stair Geometry Conditioning for Robust Humanoid Locomotion
Shenzhen Institute of Artificial Intelligence and Robotics for Society（深圳人工智能与机器人社会研究院）；School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen（香港中文大学（深圳）科学与工程学院）；Mohamed bin Zayed University of Artificial Intelligence (MBZUAI)（穆罕默德·本·扎耶德人工智能大学）
