PolyMorph: Learning Locomotion Policy for Cross-Embodiment Adaptation
cs.RO
Submitted: 2026-10-14
Updated: 2026-10-14
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Terminology
Sources
- Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
- Proximal Policy Optimization Algorithms
- RMA: Rapid Motor Adaptation for Legged Robots
- Body Transformer: Leveraging Robot Embodiment for Policy Learning
- MetaMorph: Learning Universal Controllers with Transformers
- One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion
- GCNT: Graph-Based Transformer Policies for Morphology-Agnostic Reinforcement Learning
- LocoFormer: Generalist Locomotion via Long-context Adaptation
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