Active Embodiment Identification with Reinforcement Learning for Legged Robots
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arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2026
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| _version_ | 1866917473394098176 |
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| author | Bohlinger, Nico Peters, Jan |
| author_facet | Bohlinger, Nico Peters, Jan |
| contents | We present an active embodiment identification method for legged robots that jointly learns information-seeking behavior and explicit embodiment prediction. Using a history-augmented URMA architecture, the method infers joint-level and global embodiment parameters through interaction with the environment in simulation across different morphologies. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_08020 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Active Embodiment Identification with Reinforcement Learning for Legged Robots Bohlinger, Nico Peters, Jan Robotics We present an active embodiment identification method for legged robots that jointly learns information-seeking behavior and explicit embodiment prediction. Using a history-augmented URMA architecture, the method infers joint-level and global embodiment parameters through interaction with the environment in simulation across different morphologies. |
| title | Active Embodiment Identification with Reinforcement Learning for Legged Robots |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.08020 |