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Yet current approaches often obtain gait diversity by prescribing gait schedules, imitating motion clips, training experts to switch between or distilling skills into one policy. These strategies can produce impressive behaviors, but offer limited flexibility across continuous speed commands, terrains, and morphologies. We study skill growth with GaitSpan, a framework that expands a pretrained, basic walking policy into faster locomotion. It treats walking as a seed skill: reusable motor structure for balance, support, body coordination, and contact transition that can be regenerated at new rhythms, extended into longer/higher strides, and corrected by residual adaptation. This expansion has three aspects: 1) rhythm generation, which modulates the frozen walking policy with multiple internal clocks and learns command-conditioned combinations of the resul","title":"GaitSpan: Growing Humanoid Locomotion from Walking to Running","url":"https://arxiv.org/abs/2607.12114","vendor":"arxiv_cs_ai"},"summary":"arXiv:2607.12114v1 Announce Type: cross \nAbstract: A humanoid that can walk should not relearn locomotion from scratch to jog or run. Yet current approaches often obtain gait diversity by prescribing gait schedules, imitating motion clips, training experts to switch between or distilling skills into one policy. These strategies can produce impressive behaviors, but offer limited flexibility across continuous speed commands, terrains, and morphologies. We study skill growth with GaitSpan, a framework that expands a pretrained, basic walking policy into faster locomotion. It treats walking as a seed skill: reusable motor structure for balance, support, body coordination, and contact transition that can be regenerated at new rhythms, extended into longer/higher strides, and corrected by residual adaptation. This expansion has three aspects: 1) rhythm generation, which modulates the frozen walking policy with multiple internal clocks and learns command-conditioned combinations of the resul","title":"GaitSpan: Growing Humanoid Locomotion from Walking to Running","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-15T04:44:03Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2607.12114"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:e282aa72f3b60478af759f553806ee58ad3d799efaba83b465ca42f162544d2a1b144294162d53a4a045518c34796a09d04c3cca90ddea73bb1f2fadbc193c07","signer":"crovia.substrate","subject":{"observed_at":"2026-07-15T04:44:03Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2607.12114"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"a9527095533d3f32af34a821c2ebb2faeb30886d6822a436cdb78e0cbf02b91e","leaf_index":316455,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"a2cff5dc55a6665f2b954556a35a9baaf4f03b14b5ffaec02d8e96670d6359a8","side":"left"},{"sibling":"8ec23ba6d9e2844e4b9882abeeb67a39f9a272bba827c826cb0a54286f4664e0","side":"left"},{"sibling":"7ade55a742f728e69fdf0033a47828e7928aa6dc43cbaf44168b97802f1a825e","side":"left"},{"sibling":"0255d34fa6b60861ab9a81b84251e72e2837dd892b5ecbd1864dc5fd5926ca52","side":"right"},{"sibling":"2c8682a59706b4e33332ac89d445d999f6afbbc8853bc9adae3b9b5e4d2b8140","side":"right"},{"sibling":"3b8fdc38ff056d4917ee1a0f47d25900d462aa81d7c98417e1e574385685b15c","side":"left"},{"sibling":"7ea54d26dd378975e8412c96c63f11ce7eb04515c5676061d25695229e6c6c97","side":"right"},{"sibling":"c07de1952926cdb34af34c5c0baaf9021a0ab704be6665431e37a7c145fca4d5","side":"right"},{"sibling":"1c7f1bf97993e3a126824f8350788b168c4c13264fb03a73b3ede312035d3527","side":"right"},{"sibling":"84a7590e6b24dd07ed46597f19deb75d9ad247b4227b17f30857ec7cc0fc5c21","side":"right"},{"sibling":"c8d3d8cb0183b912107f9781ad2a1b6c0c9424906c5907c09deeb5bea9d7b571","side":"left"},{"sibling":"0cb62c0ada57a2406a6bcb100889d3e8b29a15efeed07adaff5bb90a5e80612a","side":"right"},{"sibling":"0b69289b25462ddd6166f6f49004cfc8ada0ab4f10adafe188347817bdd46e37","side":"left"},{"sibling":"1418b281cd985b5ed411ef25f2017a1826cc14919b6fad3934e6ceeec693699b","side":"right"},{"sibling":"f302542c38ba7c3aab7c9280dd60259ecec777dca6e6f71b6f0729b0b8791b72","side":"left"},{"sibling":"d8b9143917b539c543cf4448cec00131f8b807bd8004979c54ebe09798748c66","side":"left"},{"sibling":"abe4a8c706e530484d1e96a8988cb09eab85928b2050985500ab289753fe3eec","side":"right"},{"sibling":"f436dccf82aa2c1eb7bfa3eb84316e116aaf64dc55cd9592597118f6cb0648f6","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":316730,"merkle_root":"a8e6e5be81ea6f5b5f2227422459bf39455fe9f0b6602b4d1ce6977dbfd78bc7","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260715T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-15T05:38:24Z","sig_algorithm":"ed25519","signature":"df1678d268b5a07413e2ca6e748c3f40b6cfedea930a18d843489a4ab513da791bf0a886caab1b918d0989f8ebaaf3d0035ca2aa777913b1ad29979f1deb9a0c","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_f71c6f3633347fa5a6d660cb0a633180bed214e24040b32319a95620466b14d9"}}