Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning - 2025-11-06 - Research Publication - The study presents Isaac Lab, the natural successor to Isaac Gym, which extends the paradigm of GPU-native robotics simulation into the era of large-scale multi-modal learning. Digit is used in the study's data-collection… - source: arxiv.org
No More Marching: Learning Humanoid Locomotion for Short-Range SE(2) Targets - 2025-08-16 - Research Publication - Humanoids operating in real-world workspaces must frequently execute task-driven, short-range movements to SE(2) target poses. To be practical, these transitions must be fast, robust, and energy efficient. Digit is the… - source: arxiv.org
Dynamic subgoal pursuit paper validates humanoid navigation using Digit simulation - 2025-06-02 - Research Publication - The paper proposes a hierarchical navigation framework combining a reinforcement-learning subgoal planner with MPC-based bipedal walking. The authors validate the method in simulation using the Agility Robotics Digit… - source: arxiv.org
PPF paper improves Digit locomotion with model-assumption-based regularization - 2025-04-14 - Research Publication - PPF combines controller imitation, reinforcement-learning fine-tuning, and model-assumption-based regularization for humanoid locomotion. The paper reports hardware experiments on full-size Digit, including 1.5 m/s walking… - source: arxiv.org
Challenging-terrain locomotion paper trains Digit for real-world outdoor walking - 2024-10-04 - Research Publication - The paper presents a transformer-based learning approach for blind humanoid locomotion over rough, deformable, and sloped terrain. The authors evaluate the controller on a real Digit humanoid, including hiking trails in… - source: arxiv.org
Digit system-identification paper improves constrained-robot model tracking - 2024-08-16 - Research Publication - The paper introduces an iterative least-squares system-identification approach for constrained robots such as legged humanoids. The approach is validated in simulation and on real Agility Robotics Digit hardware… - source: arxiv.org
Multi-biped payload-transport paper demonstrates coordinated Cassie teams - 2024-06-25 - Research Publication - The paper trains a decentralized controller for payload transport using multiple rigidly attached biped robots. The authors demonstrate real-world transport systems composed of two and three Cassie robots. It adds a… - source: arxiv.org
Digit social-navigation paper combines MPC with zonotope neural networks - 2024-03-25 - Research Publication - The paper proposes cascaded zonotope-based neural networks for pedestrian prediction and bipedal social path planning. The learned social planner is integrated with MPC footstep planning for Agility Robotics Digit in… - source: arxiv.org
Next-token prediction paper demonstrates real-world humanoid locomotion on Digit - 2024-02-29 - Research Publication - The paper casts humanoid locomotion as next-token prediction over sensorimotor trajectories using a causal transformer. The authors use Agility Robotics Digit as the physical humanoid platform and report zero-shot… - source: arxiv.org
IJRR study demonstrates broad dynamic locomotion skills on Cassie - 2024-01-30 - Research Publication - The IJRR study presents a reinforcement-learning controller for standing, walking, running, jumping, and other dynamic bipedal skills. The resulting policies deploy on Cassie in extensive real-world experiments, including… - source: arxiv.org
Safe whole-body task-space control paper validates hardware experiments on Digit - 2023-10-12 - Research Publication - The paper proposes inverse-dynamics whole-body control with exponential control barrier functions for safety-critical humanoid behaviors. The authors apply the method to the 3D biped robot Digit in both simulation and… - source: arxiv.org
Cassie constrained-foothold paper demonstrates MPC footstep control - 2023-09-14 - Research Publication - The paper introduces a mixed-integer model-predictive footstep controller for bipedal walking over constrained footholds. Hardware experiments on Cassie use real-time elevation mapping and convex terrain decomposition to… - source: arxiv.org
OP3 paper demonstrates global-position tracking for multi-domain bipedal walking - 2023-04-27 - Research Publication - The paper introduces a stabilizing global-position tracking controller for hybrid multi-domain bipedal walking. Simulations on ROBOTIS OP3 cover multi-domain walking with different actuation regimes, walking speeds, and… - source: arxiv.org
RSS jumping-control paper transfers versatile dynamic jumps to Cassie hardware - 2023-02-19 - Research Publication - The RSS paper trains a reinforcement-learning controller for robust bipedal jumping across different distances and directions. After multi-stage training, the policy transfers directly to real Cassie hardware for standing… - source: arxiv.org
Cassie ALIP-MPC paper demonstrates terrain-adaptive bipedal locomotion - 2021-09-30 - Research Publication - The paper combines an Angular Momentum Linear Inverted Pendulum model with MPC foot placement and virtual constraints for terrain-adaptive walking. Experiments validate Cassie locomotion across surfaces with varied… - source: arxiv.org
Digit paper learns robust bipedal walking with reinforcement learning - 2021-03-29 - Research Publication - The paper presents robust feedback motion policy design for Agility Robotics Digit using reinforcement learning. The controller transfers from simulation to physical Digit hardware and realizes sustained walking under… - source: arxiv.org
Parameterized locomotion RL paper transfers robust walking policies to Cassie - 2021-03-26 - Research Publication - The paper trains robust locomotion policies in simulation using domain randomization and transfers them to the physical Cassie robot. The learned policies support dynamic behaviors such as velocity tracking, walking-height… - source: arxiv.org
Cassie sim-to-real paper learns all common bipedal gaits - 2020-11-02 - Research Publication - The paper proposes periodic reward composition for standing, walking, hopping, running, and skipping without requiring reference motions. The authors demonstrate sim-to-real transfer of learned gaits to Cassie and a… - source: arxiv.org
Cassie Hovershoes paper demonstrates multimodal bipedal riding control - 2019-07-26 - Research Publication - The paper develops feedback control for Cassie to autonomously ride a pair of Hovershoes while balancing and regulating forward and rotational velocity. Experiments include flat terrain, slopes, stairs, rough outdoor… - source: arxiv.org
Deep-RL policy-transfer paper reports hardware results on ATRIAS - 2018-09-28 - Research Publication - The paper studies whether deep reinforcement-learning policies can transfer from simulation to hardware when embedded inside a structured walking controller. Experiments on ATRIAS examine action spaces, cost functions, and… - source: arxiv.org
Cassie feedback-control paper demonstrates walking, standing, and Segway riding - 2018-09-19 - Research Publication - The paper implements virtual-constraint and gait-library feedback control on Agility Robotics Cassie. The controller enabled standing and walking across sidewalks, grass, snow, sand, and burning brush, plus a Segway-riding… - source: arxiv.org
Bayesian-optimization study tunes walking controllers on ATRIAS hardware - 2017-09-18 - Research Publication - The paper applies Bayesian optimization with a domain-informed feature transform to bipedal locomotion controller tuning. The method is evaluated on the ATRIAS biped in simulation and on hardware, including two walking… - source: arxiv.org
Articles
Agility opens Fremont physical AI facility - 2026-07-16 - The 60,000-square-foot site adds software, testing and field-operations capacity alongside Digit manufacturing at RoboFab.
The Humanoid Bottleneck Is Leaving the Cage - 2026-06-22 - NVIDIA's Halos launch puts safety infrastructure around physical AI deployment. Agility's Digit is the first humanoid in the system, and the reason why matters more than the platform itself.
Agility and the U.S.-Built Humanoid Thesis - 2026-05-29 - Agility is pairing commercial deployments with RoboFab, domestic assembly, U.S.-sourced components, safety certification, and Arc integration software in an attempt to turn humanoids into industrial infrastructure.