Pith Number

pith:SSDLJVIY

pith:2026:SSDLJVIYDM3CWOBJP24Q7UPELK

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MUJICA: Multi-skill Unified Joint Integration of Control Architecture for Wheeled-Legged Robots

Lihua Zhang, Peng Zhai, Qianxiang Yu, Quancheng Qian, Xiaoyi Wei, Yueqi Zhang, Yuqi Li, Zhengxu He

A single policy integrates omnidirectional moving, climbing, and fall recovery for wheeled-legged robots using only proprioceptive sensing.

arxiv:2605.13058 v1 · 2026-05-13 · cs.RO

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Claims

C1strongest claim

We propose the Multi-skill Unified Joint Integration of Control Architecture (MUJICA), a unified, fully proprioceptive control framework for wheeled-legged robots that integrates diverse low-level skills—including omnidirectional moving, high platform climbing, and fall recovery—within a single policy.

C2weakest assumption

That joint training with indicator variables and accurate DC-motor modeling in simulation is sufficient to produce robust sim-to-real transfer and reliable proprioceptive skill selection without additional real-world adaptation or external sensing.

C3one line summary

A single reinforcement learning policy jointly trains multiple locomotion skills for wheeled-legged robots with DC-motor constraints and learns a proprioceptive skill selector for adaptive behavior.

References

31 extracted · 31 resolved · 5 Pith anchors

[1] Deep reinforcement learning for robotics: A survey of real- world successes, 2025

[2] Moe-loco: Mixture of experts for multitask locomotion 2025

[3] Deep reinforcement learning in mixture of experts control system for blind wheeled-legged quadrupedal locomo- tion, 2024

[4] Dreamwaq: Learning robust quadrupedal locomotion with implicit terrain imagination via deep reinforcement learning 2023

[5] Fr-net: Learning robust quadrupedal fall recovery on challenging terrains through mass-contact prediction, 2025

Receipt and verification

First computed	2026-05-18T03:08:59.158041Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9486b4d5181b362b38297eb90fd1e45abad705c02c58d60a92cab1b99b307e55

Aliases

arxiv: 2605.13058 · arxiv_version: 2605.13058v1 · doi: 10.48550/arxiv.2605.13058 · pith_short_12: SSDLJVIYDM3C · pith_short_16: SSDLJVIYDM3CWOBJ · pith_short_8: SSDLJVIY

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/SSDLJVIYDM3CWOBJP24Q7UPELK \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 9486b4d5181b362b38297eb90fd1e45abad705c02c58d60a92cab1b99b307e55

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "717f2b61aa8d9639a5e0b0914b7d0038aadde1a371a2eed433f5ffd025fc2576",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-13T06:31:18Z",
    "title_canon_sha256": "eeeaa3c089703e513443153c65af41fcaa988bb0c478a49f09ee0471d21bfec6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.13058",
    "kind": "arxiv",
    "version": 1
  }
}