# BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds

> Research article (Robotics: Science and Systems XXI, 2025) · cited 11× · AI/ML

**Wikidata**: [openalex:W4414079195](https://www.wikidata.org/wiki/openalex:W4414079195)  
**Source**: https://4ort.xyz/entity/beamdojo-learning-agile-humanoid-locomotion-on-sparse-footholds