MorFiC: Fixing Value Miscalibration for Zero-Shot Quadruped Transfer
Published in CoRL 2026, 2026
Recommended citation: Mishra, P., Raj, A. H., Xiao, X., & Manocha, D. (2026). "MorFiC: Fixing Value Miscalibration for Zero-Shot Quadruped Transfer." CoRL 2026. https://arxiv.org/abs/2603.14554
A FiLM-modulated critic conditioned on each robot’s physical and control parameters fixes value miscalibration in shared training. Tested on real Go1 and Go2 robots without fine-tuning.