Cover Image

Swimming Under Constraints: A Safe Reinforcement Learning Framework for Quadrupedal Bio-Inspired Propulsion

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Cui, Xinyu, Han, Fei, Xu, Hang, Zeng, Yongcheng, Sun, Luoyang, Zhang, Ruizhi, Zhao, Jian, Zhang, Haifeng, Li, Weikun, Chen, Hao, Wang, Jun, Fan, Dixia
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Enhancing Efficiency and Propulsion in Bio-mimetic Robotic Fish through End-to-End Deep Reinforcement Learning
by: Cui, Xinyu, et al.
Published: (2025)

Sim2Sea: Sim-to-Real Policy Transfer for Maritime Vessel Navigation in Congested Waters
by: Cui, Xinyu, et al.
Published: (2026)

Learn to Swim: Data-Driven LSTM Hydrodynamic Model for Quadruped Robot Gait Optimization
by: Han, Fei, et al.
Published: (2025)

SAC-Loco: Safe and Adjustable Compliant Quadrupedal Locomotion
by: Zhang, Aoqian, et al.
Published: (2025)

How to Re-enable PDE Loss for Physical Systems Modeling Under Partial Observation
by: Feng, Haodong, et al.
Published: (2024)

Efficient Navigation of a Robotic Fish Swimming Across the Vortical Flow Field
by: Feng, Haodong, et al.
Published: (2024)

Freshness-Aware Prioritized Experience Replay for LLM/VLM Reinforcement Learning
by: Ma, Weiyu, et al.
Published: (2026)

Integrating LTL Constraints into PPO for Safe Reinforcement Learning
by: Zhang, Maifang, et al.
Published: (2026)

Learning Adaptive Hydrodynamic Models Using Neural ODEs in Complex Conditions
by: Wang, Cong, et al.
Published: (2024)

Token-level Direct Preference Optimization
by: Zeng, Yongcheng, et al.
Published: (2024)

Risk-Aware Reinforcement Learning with Bandit-Based Adaptation for Quadrupedal Locomotion
by: Zeng, Yuanhong, et al.
Published: (2025)

PLM: Efficient Peripheral Language Models Hardware-Co-Designed for Ubiquitous Computing
by: Deng, Cheng, et al.
Published: (2025)

SpineWave: Harnessing Fish Rigid-Flexible Spinal Kinematics for Enhancing Biomimetic Robotic Locomotion
by: He, Qu, et al.
Published: (2025)

UnderwaterVLA: Dual-brain Vision-Language-Action architecture for Autonomous Underwater Navigation
by: Wang, Zhangyuan, et al.
Published: (2025)

Safe Multi-agent Reinforcement Learning with Natural Language Constraints
by: Wang, Ziyan, et al.
Published: (2024)

LinguaFluid: Language Guided Fluid Control via Semantic Rewards in Reinforcement Learning
by: Liang, Aoming, et al.
Published: (2025)

Towards an AI Fluid Scientist: LLM-Powered Scientific Discovery in Experimental Fluid Mechanics
by: Feng, Haodong, et al.
Published: (2025)

GTA: Grouped-head latenT Attention
by: Sun, Luoyang, et al.
Published: (2025)

Muscle‐Inspired Self‐Growing Anisotropic Hydrogels with Mechanical Training‐Promoting Mechanical Properties
by: Yulong Xia, et al.
Published: (2025)

ADMM-Based Distributed MPC with Control Barrier Functions for Safe Multi-Robot Quadrupedal Locomotion
by: Zeng, Yicheng, et al.
Published: (2026)

A Real-World Quadrupedal Locomotion Benchmark for Offline Reinforcement Learning
by: Zhang, Hongyin, et al.
Published: (2023)

CDRL: A Reinforcement Learning Framework Inspired by Cerebellar Circuits and Dendritic Computational Strategies
by: Zhang, Sibo, et al.
Published: (2026)

Bio-Inspired Photonic Spectral Encoders
by: Zhang, Yujia, et al.
Published: (2026)

When Constraints Limit and Inspire: Characterizing Presentation Authoring Practices for Evolving Narratives
by: Zeng, Linxiu, et al.
Published: (2026)

Cross-Stage Attention Multi-Expert Network for Radiologist-Inspired Breast Ultrasound Diagnosis
by: Zhai, Xinyang, et al.
Published: (2026)

SafeMove-RL: A Certifiable Reinforcement Learning Framework for Dynamic Motion Constraints in Trajectory Planning
by: Liu, Tengfei, et al.
Published: (2025)

Ask more, know better: Reinforce-Learned Prompt Questions for Decision Making with Large Language Models
by: Yan, Xue, et al.
Published: (2023)

Chemo Hydrodynamic Transceivers for the Internet of Bio-Nano Things, Modeling the Joint Propulsion Transmission trade-off
by: Zhang, Shaojie, et al.
Published: (2026)

Safe Distributed Learning-Enhanced Predictive Control for Multiple Quadrupedal Robots
by: Zhan, Weishu, et al.
Published: (2025)

Bresa: Bio-inspired Reflexive Safe Reinforcement Learning for Contact-Rich Robotic Tasks
by: Zhang, Heng, et al.
Published: (2025)

SafeWax: A Bio‐Inspired Multifunctional Coating for Sustainable Crop Protection
by: Iryna Polishchuk, et al.
Published: (2025)

Provably Safe Trajectory Generation for Manipulators Under Motion and Environmental Uncertainties
by: Meng, Fei, et al.
Published: (2026)

Constraint-Conditioned Policy Optimization for Versatile Safe Reinforcement Learning
by: Yao, Yihang, et al.
Published: (2023)

Evolving LLMs' Self-Refinement Capability via Synergistic Training-Inference Optimization
by: Zeng, Yongcheng, et al.
Published: (2025)

Enabling Safety-Critical Wireless Communications via Safe Reinforcement Learning
by: Peng, Haoran, et al.
Published: (2026)

Bio‐Inspired Self‐Renewing Implant Surfaces With Sequential Biofunctional Adaptation for Infectious Diabetic Tissue Repair
by: Bin Cui, et al.
Published: (2024)

SpatialViz-Bench: A Cognitively-Grounded Benchmark for Diagnosing Spatial Visualization in MLLMs
by: Wang, Siting, et al.
Published: (2025)

Two‐Stage Adaptive Robust Hub Location Problem Under Demand Uncertainty
by: Haifeng Zhang, et al.
Published: (2025)

Large Language Models Play StarCraft II: Benchmarks and A Chain of Summarization Approach
by: Ma, Weiyu, et al.
Published: (2023)

Bipedalism for Quadrupedal Robots: Versatile Loco-Manipulation through Risk-Adaptive Reinforcement Learning
by: Zhang, Yuyou, et al.
Published: (2025)