FT-WBC introduces a decoupled policy architecture with a Fault Estimator and Posture Adaptation Module that converts unstable arm-driven posture requests into safe base commands under actuator failures in legged manipulators.
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FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation
FT-WBC introduces a decoupled policy architecture with a Fault Estimator and Posture Adaptation Module that converts unstable arm-driven posture requests into safe base commands under actuator failures in legged manipulators.