Online embodiment identification lets a quadruped adapt to joint-limit and payload changes within 0.4 seconds, improving real-robot robustness over non-adaptive policies.
One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Loco- motion
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Rapid Embodiment Adaptation for Quadrupedal Locomotion
Online embodiment identification lets a quadruped adapt to joint-limit and payload changes within 0.4 seconds, improving real-robot robustness over non-adaptive policies.