A hybrid position-torque policy with a learned disturbance observer lets a Unitree Go2 quadruped carry heavy payloads and reject impacts beyond a DreamWaQ baseline.
Rl2ac: Reinforcement learning-based rapid online adaptive control for legged robot robust locomotion,
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Disturbance-Aware Adaptive Compensation in Hybrid Force-Position Locomotion Policy for Legged Robots
A hybrid position-torque policy with a learned disturbance observer lets a Unitree Go2 quadruped carry heavy payloads and reject impacts beyond a DreamWaQ baseline.