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#Terrain Adaptation (5)

WaterfallPagination
HFUN-TECH Transformer Humanoid: Autonomously Reconfigures Between Wheel-Foot and Quadruped
0:38

HFUN-TECH Transformer Humanoid: Autonomously Reconfigures Between Wheel-Foot and Quadruped

@LeoKharon · 102 views · 2026-08-28
Transformer RobotHumanoidQuadruped robots
T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion

T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion

Achieving both anthropomorphic naturalness and robust terrain traversal remains a fundamental challenge in humanoid locomotion. Existing Reinforcement Learning (RL) approaches typically rely on fixed motion priors, limiting their adaptability to varying environments. We propose Terrain-conditioned Generative Motion Priors (T-GMP), a module that captures a terrain-conditioned latent motion manifold from a few expert state-terrain demonstrations using a Conditional Variational Autoencoder (CVAE). The learned priors enable smooth style transitions, facilitating a unified policy that adapts to terrain variations. We integrate T-GMP into an adversarial learning pipeline with our proposed Foothold Penalty, where a discriminator dynamically modulates naturalness constraints conditioned on local terrain features, guiding the generation of versatile and human-like motions. Experimental results demonstrate that our method outperforms existing baselines in traversal success rate and motion smoothness, while preserving biomimetically natural and physically coordinated motions.

Junhong Guo, Hao Hu, Chen ChenJun 5, 2026
CVAERLLocomotionJun 5, 2026
CMoE: Contrastive Mixture of Experts for Motion Control and Terrain Adaptation of Humanoid Robots

CMoE: Contrastive Mixture of Experts for Motion Control and Terrain Adaptation of Humanoid Robots

CMoE uses contrastive learning to improve MoE expert specialization for humanoid terrain navigation. Validated on Unitree G1, achieving robust gait over 20cm steps and 80cm gaps.

Shihao Ma, Hongjin Chen, Zijun XuMar 3, 2026
Unitree G1MoESim-to-RealMar 3, 2026
Galileo X: Wheel-Legged Robot That Refuses the Speed vs. Terrain Trade-off
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Galileo X: Wheel-Legged Robot That Refuses the Speed vs. Terrain Trade-off

@techniahqrobot · 62 views · 2026-08-14
Wheel-LeggedMobile robotsGalileo X
Bipedal robot walks and runs across uneven outdoor terrain
0:34

Bipedal robot walks and runs across uneven outdoor terrain

@Ronald_vanLoon · 56 views · 2026-08-12
Bipedal robotsLocomotionTerrain Adaptation