Cover Image

RL-Augmented MPC for Non-Gaited Legged and Hybrid Locomotion

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Patrizi, Andrea, Rizzardo, Carlo, Laurenzi, Arturo, Ruscelli, Francesco, Rossini, Luca, Tsagarakis, Nikos G.
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

Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped
by: Dadiotis, Ioannis, et al.
Published: (2023)

HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation
by: Wang, Jin, et al.
Published: (2024)

Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model
by: Wang, Jin, et al.
Published: (2024)

Unified Hierarchical MPC in Task Executing for Modular Manipulators across Diverse Morphologies
by: Lei, Maolin, et al.
Published: (2025)

Chapter XBot: A Cross-Robot Software Framework for Real-Time Control
by: Tsagarakis, Nikolaos, et al.
Published: (2024)

CONCERT: a Modular Reconfigurable Robot for Construction
by: Rossini, Luca, et al.
Published: (2025)

A Task-Driven, Planner-in-the-Loop Computational Design Framework for Modular Manipulators
by: Lei, Maolin, et al.
Published: (2025)

Nonlinear Model Predictive Control for Robust Bipedal Locomotion: Exploring Angular Momentum and CoM Height Changes
by: Ding, Jiatao, et al.
Published: (2019)

A High-Force Gripper with Embedded Multimodal Sensing for Powerful and Perception Driven Grasping
by: Del Bianco, Edoardo, et al.
Published: (2025)

Task-Driven Computational Framework for Simultaneously Optimizing Design and Mounted Pose of Modular Reconfigurable Manipulators
by: Lei, Maolin, et al.
Published: (2024)

Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning
by: Taouil, Ilyass, et al.
Published: (2024)

Learning to Recover: Dynamic Reward Shaping with Wheel-Leg Coordination for Fallen Robots
by: Deng, Boyuan, et al.
Published: (2025)

False Feasibility in Variable Impedance MPC for Legged Locomotion
by: Ramesh, Vishal
Published: (2026)

A Laser-guided Interaction Interface for Providing Effective Robot Assistance to People with Upper Limbs Impairments
by: Torielli, Davide, et al.
Published: (2025)

Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots
by: Elobaid, Mohamed, et al.
Published: (2024)

Grounding Language Models in Autonomous Loco-manipulation Tasks
by: Wang, Jin, et al.
Published: (2024)

Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC
by: Chen, Yiyu, et al.
Published: (2023)

Efficient and Adaptive Autonomous Guidance and Control of Planetary Rover With Improved Traction Controller and Dynamic Cost Map
by: Alessio De Luca, et al.
Published: (2026)

Exo-muscle: A semi-rigid assistive device for the knee
by: Zhang, Yifang, et al.
Published: (2025)

Soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation
by: Crotti, Matteo, et al.
Published: (2024)

Leveraging Symmetry in RL-based Legged Locomotion Control
by: Su, Zhi, et al.
Published: (2024)

RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control
by: Bang, Seung Hyeon, et al.
Published: (2024)

Dynamic Adaptive Legged Locomotion Policy via Decoupling Reaction Force Control and Gait Control
by: Wang, Renjie, et al.
Published: (2025)

Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete Terrains
by: Li, Junheng, et al.
Published: (2025)

Safe Learning of Locomotion Skills from MPC
by: Pua, Xun, et al.
Published: (2024)

Dual-MPC Footstep Planning for Robust Quadruped Locomotion
by: Ham, Byeong-Il, et al.
Published: (2025)

Wearable Haptics for a Marionette-inspired Teleoperation of Highly Redundant Robotic Systems
by: Torielli, Davide, et al.
Published: (2025)

Experience-Learning Inspired Two-Step Reward Method for Efficient Legged Locomotion Learning Towards Natural and Robust Gaits
by: Li, Yinghui, et al.
Published: (2024)

MPC for Humanoid Gait Generation: Stability and Feasibility
by: Scianca, Nicola, et al.
Published: (2019)

Dynamic object goal pushing with mobile manipulators through model-free constrained reinforcement learning
by: Dadiotis, Ioannis, et al.
Published: (2025)

Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding
by: Liu, Hang, et al.
Published: (2025)

Dynamic Modeling and MPC for Locomotion of Tendon-Driven Soft Quadruped
by: Karan, Saumya, et al.
Published: (2026)

Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
by: Corbères, Thomas, et al.
Published: (2023)

Gait-Conditioned Reinforcement Learning with Multi-Phase Curriculum for Humanoid Locomotion
by: Peng, Tianhu, et al.
Published: (2025)

Human Imitated Bipedal Locomotion with Frequency Based Gait Generator Network
by: Ates, Yusuf Baran, et al.
Published: (2025)

Disturbance-Aware Adaptive Compensation in Hybrid Force-Position Locomotion Policy for Legged Robots
by: Zhang, Yang, et al.
Published: (2025)

Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion
by: Yang, Shunpeng, et al.
Published: (2025)

PRIOR: Perceptive Learning for Humanoid Locomotion with Reference Gait Priors
by: Han, Chenxi, et al.
Published: (2026)

The Geometry of Optimal Gait Families for Steering Kinematic Locomoting Systems
by: Choi, Jinwoo, et al.
Published: (2025)

Gait in Eight: Efficient On-Robot Learning for Omnidirectional Quadruped Locomotion
by: Bohlinger, Nico, et al.
Published: (2025)