Cover Image

Real-Time Gait Adaptation for Quadrupeds using Model Predictive Control and Reinforcement Learning

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Kotecha, Prakrut, B, Ganga Nair, Kolathaya, Shishir
Format:	Preprint
Published:	2025
Subjects:	Robotics Artificial Intelligence
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Data-Driven Physics Embedded Dynamics with Predictive Control and Reinforcement Learning for Quadrupeds
by: Kotecha, Prakrut, et al.
Published: (2026)

STRIDE: Structured Lagrangian and Stochastic Residual Dynamics via Flow Matching
by: Kotecha, Prakrut, et al.
Published: (2026)

Investigating Lagrangian Neural Networks for Infinite Horizon Planning in Quadrupedal Locomotion
by: Kotecha, Prakrut, et al.
Published: (2025)

MULE: Multi-terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotion
by: Kurva, Vamshi Kumar, et al.
Published: (2025)

Energy-Efficient Quadruped Locomotion with Compliant Feet
by: Pal, Pramod, et al.
Published: (2026)

GRoQ-LoCO: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasets
by: PP, Narayanan, et al.
Published: (2025)

MAD-PINN: A Decentralized Physics-Informed Machine Learning Framework for Safe and Optimal Multi-Agent Control
by: Tayal, Manan, et al.
Published: (2025)

CP-NCBF: A Conformal Prediction-based Approach to Synthesize Verified Neural Control Barrier Functions
by: Tayal, Manan, et al.
Published: (2025)

A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems
by: Tayal, Manan, et al.
Published: (2025)

V-OCBF: Learning Safety Filters from Offline Data via Value-Guided Offline Control Barrier Functions
by: Tayal, Mumuksh, et al.
Published: (2025)

Neural Control Barrier Functions from Physics Informed Neural Networks
by: Agrawal, Shreenabh, et al.
Published: (2025)

BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains
by: Mothish, GVS, et al.
Published: (2024)

Offline Adaptation of Quadruped Locomotion using Diffusion Models
by: O'Mahoney, Reece, et al.
Published: (2024)

MTAC: Hierarchical Reinforcement Learning-based Multi-gait Terrain-adaptive Quadruped Controller
by: Shah, Nishaant, et al.
Published: (2023)

Tiny Reinforcement Learning for Quadruped Locomotion using Decision Transformers
by: Akgün, Orhan Eren, et al.
Published: (2024)

Hierarchical Reinforcement Learning and Value Optimization for Challenging Quadruped Locomotion
by: Coholich, Jeremiah, et al.
Published: (2025)

MoRE: Unlocking Scalability in Reinforcement Learning for Quadruped Vision-Language-Action Models
by: Zhao, Han, et al.
Published: (2025)

Learning Quadruped Locomotion Policies using Logical Rules
by: DeFazio, David, et al.
Published: (2021)

Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)
by: Tayal, Manan, et al.
Published: (2023)

Agent-Driven Autonomous Reinforcement Learning Research: Iterative Policy Improvement for Quadruped Locomotion
by: Khandelwal, Nimesh, et al.
Published: (2026)

Safety Certification in the Latent space using Control Barrier Functions and World Models
by: Anand, Mehul, et al.
Published: (2025)

DTEA: A Dual-Topology Elastic Actuator Enabling Real-Time Switching Between Series and Parallel Compliance
by: Ramesh, Vishal, et al.
Published: (2026)

BORA: Bridging Offline Reinforcement Learning and Online Residual Adaptation for Real-World Dexterous VLA Models
by: Chen, Zhongxi, et al.
Published: (2026)

Learning Quadruped Locomotion Using Differentiable Simulation
by: Song, Yunlong, et al.
Published: (2024)

Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions
by: Agarwal, Aryan, et al.
Published: (2024)

Fixed time convergence guarantees for Higher Order Control Barrier Functions
by: K, Janani S, et al.
Published: (2025)

Multi-Gait Learning for Humanoid Robots Using Reinforcement Learning with Selective Adversarial Motion Prior
by: Wu, Yuanye, et al.
Published: (2026)

Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments
by: Tayal, Manan, et al.
Published: (2023)

QuadrupedGPT: Towards a Versatile Quadruped Agent in Open-ended Worlds
by: Mei, Yuting, et al.
Published: (2024)

Safe and Performant Controller Synthesis using Gradient-based Model Predictive Control and Control Barrier Functions
by: Singh, Aditya, et al.
Published: (2025)

A Chain-Driven, Sandwich-Legged Quadruped Robot: Design and Experimental Analysis
by: Singh, Aman, et al.
Published: (2025)

Reinforcement Learning-based Fault-Tolerant Control for Quadrotor with Online Transformer Adaptation
by: Kim, Dohyun, et al.
Published: (2025)

Safe Continual Domain Adaptation after Sim2Real Transfer of Reinforcement Learning Policies in Robotics
by: Josifovski, Josip, et al.
Published: (2025)

Handling Delay in Real-Time Reinforcement Learning
by: Anokhin, Ivan, et al.
Published: (2025)

ExoGait-MS: Learning Periodic Dynamics with Multi-Scale Graph Network for Exoskeleton Gait Recognition
by: Liu, Lijiang, et al.
Published: (2025)

Efficiently Generating Expressive Quadruped Behaviors via Language-Guided Preference Learning
by: Clark, Jaden, et al.
Published: (2025)

SafeMind: A Risk-Aware Differentiable Control Framework for Adaptive and Safe Quadruped Locomotion
by: Zhang, Zukun, et al.
Published: (2026)

Symbolic Learning of Interpretable Reduced-Order Models for Jumping Quadruped Robots
by: Buriani, Gioele, et al.
Published: (2025)

Robust Localization, Mapping, and Navigation for Quadruped Robots
by: Aditya, Dyuman, et al.
Published: (2025)

Adaptive Control Strategy for Quadruped Robots in Actuator Degradation Scenarios
by: Wu, Xinyuan, et al.
Published: (2023)