UMC uses masked attention and two-stage training so one policy keeps legged robots walking under eight sensor and joint failure scenarios, cutting fall rates by up to 53 percentage points in simulation.
Fast adaptation dynamics model for robot’s damage recovery
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UMC: Unified Resilient Controller for Legged Robots with Joint Malfunctions
UMC uses masked attention and two-stage training so one policy keeps legged robots walking under eight sensor and joint failure scenarios, cutting fall rates by up to 53 percentage points in simulation.