Stroke Training to Advance Balance During Locomotor Experiences (STABLE) Trial

The goal of this clinical trial is to learn if a treadmill gait training performed with a new robotic device will improve walking balance and everyday participation in walking activities for adults who have had a stroke. The main questions it aims to answer are: 1. Does treadmill gait training performed with a new robotic device that challenges their walking balance improve a person's balance and steadiness while walking? 2. Does treadmill gait training performed with a new robotic device help people with stroke walk better and take more steps in their daily lives? We will compare the new robotic training (which uses a cable device to gently pull the participant side-to-side to challenge their balance) to standard high-intensity treadmill training (where no extra pulling forces are applied) to see if combination of high intensity treadmill training in a balance challenging environment works better for stroke recovery specifically for walking balance. Participants will: * Complete 20 sessions of high-intensity walking training on a treadmill * Undergo special walking and balance tests at the Human Agility laboratory 4 different times: before the training, halfway through the training (after 10 sessions), at the end of the training (after 20 sessions), and 3 months after training is completed. * Have their daily walking activity (steps per day) tracked to measure improvements at home and in the community.