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GM-Loco: Terrain-Adaptive Humanoid Locomotion on Granular Media

arXiv · AI, language, vision and robotics · article · Sep 9, 2026 · UTC

Humanoid locomotion on granular terrain remains a significant challenge due to its complex foot-terrain interaction dynamics that are difficult to model. Existing approaches either ignore granular contact dynamics or incorporate simplified normal force models with heuristic tangential components. In this work, we present a physics-grounded granular contact model based on three-dimensional resistive force theory (3D RFT) and efficiently simulate granular terrain for reinforcement learning (RL) training. Unlike traditional rigid contact models and simplified granular contact models with ad-hoc h

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