Load-Aware Quadruped Navigation with Online Contact-based Geometry Estimation

cs.RO

Submitted: 2026-10-10

Updated: 2026-10-10

Comments: 19 pages, 12 figures, 5 tables. Project website: https://qiii04.github.io/LOADNav/

Project page: https://qiii04.github.io/LOADNav

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

Sources

• Beyond Robustness: Learning Unknown Dynamic Load Adaptation for Quadruped Locomotion on Rough Terrain
• ObjectReact: Learning Object-Relative Control for Visual Navigation
• RMA: Rapid Motor Adaptation for Legged Robots
• COMPASS: Cross-embodiment Mobility Policy via Residual RL and Skill Synthesis
• Proximal Policy Optimization Algorithms
• Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning
• Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation
• Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments
• Motion Priors Reimagined: Adapting Flat-Terrain Skills for Complex Quadruped Mobility

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