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arXiv · 2604.02744

Learning Locomotion on Complex Terrain for Quadrupedal Robots with Foot Position Maps and Stability Rewards

Matthew Hwang·Yubin Liu·Ryo Hakoda·Takeshi Oishi
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Abstract

Quadrupedal locomotion over complex terrain has been a long-standing research topic in robotics. While recent reinforcement learning-based locomotion methods improve generalizability and foot-placement precision, they rely on implicit inference of foot positions from joint angles, lacking the explicit precision and stability guarantees of optimization-based approaches. To address this, we introduce a foot position map integrated into the heightmap, and a dynamic locomotion-stability reward within an attention-based framework to achieve locomotion on complex terrain. We validate our method extensively on terrains seen during training as well as out-of-domain (OOD) terrains. Our results demonstrate that the proposed method enables precise and stable movement, resulting in improved locomotion success rates on both in-domain and OOD terrains.

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Matthew Hwang, Yubin Liu, Ryo Hakoda, Takeshi Oishi. 2026-04-03. Learning Locomotion on Complex Terrain for Quadrupedal Robots with Foot Position Maps and Stability Rewards. https://arxiv.org/abs/2604.02744

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