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cs.RO2026
RACER: Residual-Adaptive Closed-Loop Estimation for Sampling-Based Planning in Wheeled-Quadruped Racing
Yuxiang Liu, Marla Eisman, Lizhi Yang +2
We present RACER, a hierarchical control framework for wheel-based quadruped racing that combines an MPPI planner with a learned residual dynamics model and a low-level RL velocity…
cs.RO2026
Racing a Wheeled Quadruped: Active Load Transfer Mitigation via Model Predictive Control
Marla Eisman, Brian Lam, Samuel Sonnino +1
This paper presents a hierarchical control framework using model predictive control (MPC) and reinforcement learning (RL) for active roll control to manage lateral load transfer du…