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.
An open torque-controlled modular robot architecture for legged locomotion research
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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.