Agility opens Fremont physical AI facility - 2026-07-16 - Article - 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 - Article - 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 - Article - 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.
Efficient and Compliant Control Framework for Versatile Human-Humanoid Collaborative Transportation - 2025-12-08 - Research Publication - The authors present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are… - source: arxiv.org
Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning - 2025-11-06 - Research Publication - We present 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. The work is explicitly tied to Digit, making the… - source: arxiv.org
Agility Robotics trains a whole-body control foundation model for Digit - 2025-08-28 - Research Publication - Training a Whole-Body Control Foundation Model Agility Industries Solutions Company Investors Careers New Item + Resources Deploy Digit Close Blog eBooks FAQ Glossary Careers Careers Careers Careers Careers Careers Laborum… - source: agilityrobotics.com
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. The work is… - 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
Agility Robotics expands NVIDIA simulation workflow for Digit behavior training - 2025-03-18 - Research Publication - NVIDIA Isaac Lab is an open-source modular framework for robot learning designed to simplify how robots learn and adapt to new skills in simulation, while NVIDIA Isaac Sim is a reference application that enables developers… - source: agilityrobotics.com
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
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation - 2024-09-30 - Research Publication - Humanoid robots are designed to perform diverse loco-manipulation tasks. Opt2Skill generates dynamic feasible and contact-consistent reference motions for the Digit humanoid robot using differential dynamic programming… - source: arxiv.org
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces - 2024-09-12 - Research Publication - The paper introduces a real-time, provably stabilizing control approach for underactuated humanoid walking on periodically swaying rigid surface. Finally, experiments conducted on a Digit humanoid robot, both 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
Revisiting Reward Design and Evaluation for Robust Humanoid Standing and Walking - 2024-04-30 - Research Publication - However, prior works lack a clear method to systematically test new reward functions and compare controller performance through repeatable experiments. The results provide clear quantitative trade-offs among the… - 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
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
Words into Action: Learning Diverse Humanoid Robot Behaviors using Language Guided Iterative Motion Refinement - 2023-10-10 - Research Publication - The authors introduce a method to simplify controller design by enabling users to train and fine-tune robot control policies using natural language commands. The authors validate the approach using a simulated Digit… - source: arxiv.org
Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces - 2022-01-25 - Research Publication - The observability analysis is performed to reveal the effects of DRS movement on the state observability, and the convergence property of the hybrid, deterministic filter system is examined for the observable state… - 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