MoE-based locomotion policy with RoboGauge metrics achieves reliable sim-to-real transfer, enabling robust quadrupedal walking on challenging unseen terrains up to 4 m/s.
velocity trackingexp(−σ|ω cmd z −ω z|2) 0.5 Lin
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Toward Reliable Sim-to-Real Predictability for MoE-based Robust Quadrupedal Locomotion
MoE-based locomotion policy with RoboGauge metrics achieves reliable sim-to-real transfer, enabling robust quadrupedal walking on challenging unseen terrains up to 4 m/s.