3 papers
cs.RO2026
Learning Perceptive Platform Adaptive Locomotion Controllers for Quadrupedal Robots
David Rytz, Kim Tien Ly, Ioannis Havoutis
Universal quadrupedal locomotion remains limited by the difficulty of integrating perception across diverse robot morphologies. State-of-the-art controllers rely on single-robot tr…
cs.RO2026
Sampling Strategies for Robust Universal Quadrupedal Locomotion Policies
David Rytz, Kim Tien Ly, Ioannis Havoutis
This work focuses on sampling strategies of configuration variations for generating robust universal locomotion policies for quadrupedal robots. We investigate the effects of sampl…
cs.RO2025
Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy
David Rytz, Suyoung Choi, Wanming Yu +3
This article presents Platform Adaptive Locomotion (PAL), a unified control method for quadrupedal robots with different morphologies and dynamics. We leverage deep reinforcement l…