McARL: Morphology-Control-Aware Reinforcement Learning for Generalizable Quadrupedal Locomotion
Published in arXiv 2025, 2025
Recommended citation: Mishra, P., Raj, A. H., Xiao, X., & Manocha, D. (2025). "McARL: Morphology-Control-Aware Reinforcement Learning for Generalizable Quadrupedal Locomotion." arXiv:2505.18418. https://arxiv.org/abs/2505.18418
Conditions actor and critic on a randomized morphology vector, so a policy trained on a Go1 transfers zero-shot to a Go2 at up to 3.5 m/s.