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actuator delay 1central pattern generator 1quadrupedal locomotion 1sim-to-real transfer 1time-aware neural networks 1

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cs.RO2026

Reinforcement Learning on Cost-Constrained Quadrupedal Hardware

Javier C. Weddington, Bence P. Ölveczky, Stephen A. Baccus

The paper presents a reinforcement‑learning approach for low‑cost quadrupedal robots that compensates for large actuator delays using a forward model and a time‑aware neural networ…