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.
Motion priors reimagined: Adapting flat-terrain skills for complex quadruped mobility
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A literature survey summarizing modeling, state estimation, control methods, applications, and open challenges for legged robots operating in non-inertial environments where the ground moves or accelerates.
citing papers explorer
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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.
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A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future
A literature survey summarizing modeling, state estimation, control methods, applications, and open challenges for legged robots operating in non-inertial environments where the ground moves or accelerates.