Agile and Generalized Legged Locomotion

via Attention-Based Neural Map Encoding

Authors: Chong Zhang, Victor Klemm, Fan Yang, Marco Hutter

ETH Zurich

Paper Link: https://arxiv.org/abs/2601.08485

aka: AME-2. Tuning Guide: Link

Youtube: https://www.youtube.com/watch?v=FNA1crvtBLs

Code Release: tbd in OCT 2026

Highlights

journal_video_v3.mp4

more_results_final.mp4

More zero-shot results in simulation & Baseline Comparison

simzs.mp4

simcompare.mp4

Works for Humanoids (e.g., G1, H1)

all_terrains_4x3.mp4

G1↑: extra RBF-based shaping for upper body pose and ankle yaw

H1→: same rewards as ANYmal-D and TRON1

H1results.mp4

Method

Policy Training

Policy Architecture

Neural Mapping

Prior Work

He, Junzhe, Chong Zhang, Fabian Jenelten, Ruben Grandia, Moritz Bächer, and Marco Hutter. "Attention-based map encoding for learning generalized legged locomotion." Science Robotics 10, no. 105 (2025): eadv3604.

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