Paper Citation Record · LEDGER

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization

As of 16 August 2026, this Paper Citation Record lists 34 of 34 outbound references and 0 inbound Pith citation observations for arXiv:2506.05115.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2506.05115 v1

Coverage vector

measured 34 of 34 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-07T10:30:56.667893Z

measured 34 of 34 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-16T06:30:59.297886+00:00

measured 0 of 0 inbound itemization

Pith citing papers itemized under the disclosed page cap.

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measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

34 of 34 outbound references displayed

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External citation measurements

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Outbound references

Observation a4c171f8-d676-477e-a61d-2db67ab8273f · outbound

This paper cites Virtual model control: An intuitive approach for bipedal locomotion,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Virtual model control: An intuitive approach for bipedal locomotion,

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:57.141304Z

Source-reported events for the cited work

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Observation 9e6b2f29-cb20-4a02-908f-bf436a39fa51 · outbound

This paper cites Dynamic locomotion in the mit cheetah 3 through convex model-predictive con- trol,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Dynamic locomotion in the mit cheetah 3 through convex model-predictive con- trol,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:57.126354Z

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Observation 84157ac6-8089-48bc-9296-94ec52ce72ea · outbound

This paper cites Perception-less terrain adaptation through whole body control and hierarchical optimization,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Perception-less terrain adaptation through whole body control and hierarchical optimization,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:57.112023Z

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Observation b3a25ef9-3c30-48ab-a413-1ee4ef711f30 · outbound

This paper cites Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-07T10:30:56.523155Z

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Observation a6a21f39-171c-4927-9ae8-e231e452a1a0 · outbound

This paper cites Stance: Locomotion adaptation over soft terrain,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Stance: Locomotion adaptation over soft terrain,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:57.097072Z

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Observation ba323872-0b6d-4931-95a3-46cf5f211137 · outbound

This paper cites Optimized jumping on the mit cheetah 3 robot,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Optimized jumping on the mit cheetah 3 robot,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:57.083146Z

Source-reported events for the cited work

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Observation 91044bc9-f7d0-44db-a136-151ad7edfb43 · outbound

This paper cites Mini cheetah: A platform for pushing the limits of dynamic quadruped control,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Mini cheetah: A platform for pushing the limits of dynamic quadruped control,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:57.068938Z

Source-reported events for the cited work

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Observation f13ee0f4-57a8-480b-b155-48bf6df991bb · outbound

This paper cites Learning quadrupedal locomotion over challenging terrain,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Learning quadrupedal locomotion over challenging terrain,

Reference 8

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Observation bf0eb5a0-6b0e-4180-98eb-fbd114743b54 · outbound

This paper cites Learning robust perceptive locomotion for quadrupedal robots in the wild,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Learning robust perceptive locomotion for quadrupedal robots in the wild,

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-07T10:30:56.544811Z

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Observation 1f2730a4-d5b0-4e79-8640-b414f29dafc7 · outbound

This paper cites Learning quadrupedal locomotion on deformable terrain,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Learning quadrupedal locomotion on deformable terrain,

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-07T10:30:56.549758Z

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Observation cc4b0918-2295-4d77-815e-85c9fbd5ed94 · outbound

This paper cites Visual whole-body control for legged loco-manipulation,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Visual whole-body control for legged loco-manipulation,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:57.018568Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 8795159c-7858-4a22-9aec-d3a8787ed3e8 · outbound

This paper cites Rl + model-based control: Using on-demand optimal control to learn versatile legged locomotion,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Rl + model-based control: Using on-demand optimal control to learn versatile legged locomotion,

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:56.999517Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 6e9d8a95-387e-4881-99ec-978310f415dd · outbound

This paper cites Run like a dog: Learning based whole-body control framework for quadruped gait style transfer,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Run like a dog: Learning based whole-body control framework for quadruped gait style transfer,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:56.984137Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation b66f5390-3afb-4f83-9708-b143549a62b0 · outbound

This paper cites Opt-mimic: Imitation of optimized trajectories for dynamic quadruped behaviors,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Opt-mimic: Imitation of optimized trajectories for dynamic quadruped behaviors,

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-07T10:30:56.571892Z

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Observation dae90537-8d51-4850-a2a1-6e38003f5e5f · outbound

This paper cites Imitation-enhanced reinforcement learning with priv- ileged smooth transition for hexapod locomotion,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Imitation-enhanced reinforcement learning with priv- ileged smooth transition for hexapod locomotion,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:56.960282Z

Source-reported events for the cited work

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Observation 56b64192-221d-492e-965a-3f69acb92a46 · outbound

This paper cites RMA: Rapid motor adaptation for legged robots,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization RMA: Rapid motor adaptation for legged robots,

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-07T10:30:56.581939Z

Source-reported events for the cited work

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Observation 73368f13-cfdb-427b-869e-4fe921dcd1a4 · outbound

This paper cites Dynamics randomization revisited: A case study for quadrupedal locomotion,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Dynamics randomization revisited: A case study for quadrupedal locomotion,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:56.926784Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 0460599f-1788-44e1-bebd-b646eede7cc0 · outbound

This paper cites Learning agile and dynamic motor skills for legged robots,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Learning agile and dynamic motor skills for legged robots,

Reference 19

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Observation 3bc8e6b7-23ed-45d5-b822-fa5d8701efc0 · outbound

This paper cites Agile but safe: Learning collision-free high-speed legged locomotion,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Agile but safe: Learning collision-free high-speed legged locomotion,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:56.911523Z

Source-reported events for the cited work

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Observation bd40c4af-d403-440e-9fde-26d1cf01677a · outbound

This paper cites Learn from safe experience: Safe reinforcement learning for task automation of surgical robot,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Learn from safe experience: Safe reinforcement learning for task automation of surgical robot,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:56.895944Z

Source-reported events for the cited work

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Observation e370c181-e58c-4c21-8465-2ceb09238155 · outbound

This paper cites Cat: Constraints as terminations for legged locomotion reinforcement learning,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Cat: Constraints as terminations for legged locomotion reinforcement learning,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:56.880041Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 50132617-e25b-4fe8-8c19-e2d894579a2f · outbound

This paper cites Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-07T10:30:56.611805Z

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Observation 33626213-b64f-4f98-bd7a-ead468b9d9de · outbound

This paper cites Not only rewards but also constraints: Applications on legged robot locomotion,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Not only rewards but also constraints: Applications on legged robot locomotion,

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-07T10:30:56.616798Z

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Observation 7bc73841-730f-42ac-99de-ce06b16bd66d · outbound

This paper cites Learning- based legged locomotion: State of the art and future perspectives,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Learning- based legged locomotion: State of the art and future perspectives,

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:56.856501Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 90903855-0cb6-4300-958d-ad6f2dc8615d · outbound

This paper cites Foot–terrain interaction mechanics for legged robots: Modeling and ex- perimental validation,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Foot–terrain interaction mechanics for legged robots: Modeling and ex- perimental validation,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:56.842365Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 337ac65a-113f-4d84-abe2-00c0f41b4be3 · outbound

This paper cites Optimization-based control for dynamic legged robots,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Optimization-based control for dynamic legged robots,

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-07T10:30:56.631174Z

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Observation fd6e5441-1206-4137-8528-5b64e50e6f78 · outbound

This paper cites Concurrent training of a control policy and a state estimator for dynamic and robust legged locomotion,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Concurrent training of a control policy and a state estimator for dynamic and robust legged locomotion,

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-07T10:30:56.635477Z

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Observation f4400648-3da8-41f0-9874-fc1490aad0a1 · outbound

This paper cites State estimation for legged robots: Consistent fusion of leg kinematics and imu,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization State estimation for legged robots: Consistent fusion of leg kinematics and imu,

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-07T10:30:56.640605Z

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Observation f0250cfc-fcc7-4250-ac81-f786d2ccd089 · outbound

This paper cites Isaac gym: High performance gpu-based physics simulation for robot learning,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Isaac gym: High performance gpu-based physics simulation for robot learning,

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-07T10:30:56.645131Z

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Observation 0204aa78-929d-4b1e-8df2-9452da491a8b · outbound

This paper cites Proximal Policy Optimization Algorithms.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Proximal Policy Optimization Algorithms

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-07T10:30:56.649387Z

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Observation db6beaf9-5ed2-488e-9da5-cfb5bc9cb26e · outbound

This paper cites Learning to walk in minutes using massively parallel deep reinforcement learning,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Learning to walk in minutes using massively parallel deep reinforcement learning,

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:56.786579Z

Source-reported events for the cited work

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Observation 7e70a5a4-65b1-4233-80d5-dbc762fc5e9d · outbound

This paper cites The pinocchio c++ library – a fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization The pinocchio c++ library – a fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives,

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-07T10:30:56.659837Z

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Unavailable: canonical work link unavailable.

Observation b3f8138b-5536-4363-b126-20eab3ed2294 · outbound

This paper cites qpOASES: A parametric active-set algorithm for quadratic programming,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization qpOASES: A parametric active-set algorithm for quadratic programming,

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:30:56.763565Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 22b8b650-df58-40e0-8e70-c384452d109d · outbound

This paper cites Mujoco: A physics engine for model-based control,.

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Mujoco: A physics engine for model-based control,

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-07T10:30:56.667893Z

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Pith citing papers

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