SOURCE-LINKED INTELLIGENCE

STRIDER: Stepping-Enabled Multi-Gait Hierarchical 3D Loco-Manipulation Framework for Humanoid Robots

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

Humanoid loco-manipulation faces two prominent limitations: controllers using continuous velocity commands cannot precisely regulate individual footholds, while specialized foothold-tracking modules are difficult to integrate with whole-body manipulation. Furthermore, standard action-based imitation distillation primarily transfers expert actions, without explicitly encouraging a shared representation of heterogeneous skills. This paper introduces STRIDER, a hierarchical multi-gait framework to bridge these gaps. The framework integrates terrain-aware 3D stepping logic, Adversarial Motion Prio

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Evidence & attribution

arXiv · AI, language, vision and robotics · 2026-09-20T09:17:11.000Z

First collected: 2026-09-23T10:01:48.231Z. This is not the publication date.