Energy-Efficient Gait Adaptation via Hierarchical Reinforcement Learning for Quadrupedal Locomotion Across Diverse Terrains

arXiv:2610.10297 · cs.RO, cs.LG · Submitted 2026-10-07 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-10-07

Updated: 2026-10-07

Comments: 9 pages. Submitted to IEEE ICRA 2027. Ammar Issa, Anubhav Singh, and Anton Tsaritsin contributed equally

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Adaptation — 16× in this paper · explained in 1 episode
• Reinforcement Learning — 11× in this paper · explained in 4 episodes
• Energy Efficiency — 9× in this paper · explained in 3 episodes
• Robustness — 8× in this paper · explained in 5 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Ablation study — 3× in this paper · explained in 3 episodes
• Action Space — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 3× in this paper · explained in 3 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Actor — 2× in this paper · explained in 3 episodes
• Adaptive Energy Regularization — 2× in this paper
• Regularization — 2× in this paper · explained in 3 episodes
• Reward Shaping — 2× in this paper · explained in 2 episodes
• Walk These Ways — 2× in this paper
• Abstraction — 1× in this paper · explained in 1 episode
• Actor-Critic Architecture — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Interpretability — 1× in this paper · explained in 15 episodes
• Quadratic Programming (QP) — 1× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Reward Function — 1× in this paper · explained in 4 episodes
• Sample Efficiency — 1× in this paper · explained in 7 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 5 episodes

Sources

• Learning to Adapt through Bio-Inspired Gait Strategies for Versatile Quadruped Locomotion
• AllGaits: Learning All Quadruped Gaits and Transitions
• Proximal Policy Optimization Algorithms
• Asymmetric Actor Critic for Image-Based Robot Learning
• Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning

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