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cs.RO2025
Unified Locomotion Transformer with Simultaneous Sim-to-Real Transfer for Quadrupeds
Dikai Liu, Tianwei Zhang, Jianxiong Yin +1
Quadrupeds have gained rapid advancement in their capability of traversing across complex terrains. The adoption of deep Reinforcement Learning (RL), transformers and various knowl…
cs.RO2025
Masked Sensory-Temporal Attention for Sensor Generalization in Quadruped Locomotion
Dikai Liu, Tianwei Zhang, Jianxiong Yin +1
With the rising focus on quadrupeds, a generalized policy capable of handling different robot models and sensor inputs becomes highly beneficial. Although several methods have been…