Loco-Loco-RL: Low-Cost Terrain Mapping for Humanoid Locomotion with Reinforcement Learning

arXiv:2609.19041 · cs.RO · Submitted 2026-07-21 · Read on arXiv

cs.RO

Submitted: 2026-07-21

Updated: 2026-07-21

Code: https://github.com/isaac-sim/IsaacSim

Terminology

• Transformer — 20× in this paper · explained in 2 episodes
• Reinforcement Learning — 16× in this paper · explained in 4 episodes
• Actor — 11× in this paper · explained in 3 episodes
• Aggregation — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Tokenization — 2× in this paper · explained in 2 episodes
• Zero Moment Point — 2× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Distillation — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Knowledge Distillation — 1× in this paper · explained in 11 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Markov Decision Process (MDP) — 1× in this paper · explained in 11 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Temporal Reasoning — 1× in this paper · explained in 2 episodes
• Time of Flight — 1× in this paper

Sources

• Learning Humanoid Locomotion over Challenging Terrain
• DPL: Depth-only Perceptive Humanoid Locomotion via Realistic Depth Synthesis and Cross-Attention Terrain Reconstruction
• Humanoid Parkour Learning

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