Beyond Fixed Visual History: Learning Motion-Adaptive Temporal Receptive Fields for Complex-Terrain Quadruped Locomotion

cs.RO

Submitted: 2026-10-10

Updated: 2026-10-10

Comments: 8 pages, 3 figures, 4 tables. Project website: https://capability-aware.github.io/

Project page: https://capability-aware.github.io

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

Sources

• RMA: Rapid Motor Adaptation for Legged Robots
• Hiking in the Wild: A Scalable Perceptive Parkour Framework for Humanoids
• Learning Vision-Guided Quadrupedal Locomotion End-to-End with Cross-Modal Transformers
• REAL: Robust Extreme Agility via Spatio-Temporal Policy Learning and Physics-Guided Filtering

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