A morphology-conditioned PPO policy trained only on the Unitree Go1 transfers zero-shot in simulation to Go2, A1 and Mini Cheetah, with the best variant reaching 3.5 m/s on the Go2.
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McARL:Morphology-Control-Aware Reinforcement Learning for Generalizable Quadrupedal Locomotion
A morphology-conditioned PPO policy trained only on the Unitree Go1 transfers zero-shot in simulation to Go2, A1 and Mini Cheetah, with the best variant reaching 3.5 m/s on the Go2.