{"paper":{"title":"ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":["cs.AI","cs.LG","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Auke Ijspeert, Guillaume Bellegarda, Milad Shafiee","submitted_at":"2023-10-16T15:06:16Z","abstract_excerpt":"Learning a locomotion policy for quadruped robots has traditionally been constrained to a specific robot morphology, mass, and size. The learning process must usually be repeated for every new robot, where hyperparameters and reward function weights must be re-tuned to maximize performance for each new system. Alternatively, attempting to train a single policy to accommodate different robot sizes, while maintaining the same degrees of freedom (DoF) and morphology, requires either complex learning frameworks, or mass, inertia, and dimension randomization, which leads to prolonged training perio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.10486","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2310.10486/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}