A two-stage RL framework with a thermal-aware residual policy enables a Unitree A1 quadruped to achieve over 13 minutes of stable locomotion under 3 kg payload versus 5 minutes before overheating with the nominal policy alone.
General humanoid whole-body control via pretraining and fast adaptation,
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Learning to Balance Motor Thermal Safety and Quadrupedal Locomotion Performance with Residual Policy
A two-stage RL framework with a thermal-aware residual policy enables a Unitree A1 quadruped to achieve over 13 minutes of stable locomotion under 3 kg payload versus 5 minutes before overheating with the nominal policy alone.