Learning Fault-Tolerant Locomotion with Adaptive Gait Timing
Hardware failures require legged robots to rapidly reorganize coordination and gait timing to maintain stability and mobility. This is particularly challenging for larger quadrupeds, where increased mass and tighter actuation limits reduce the feasibility of aggressive, high-frequency compensation strategies often observed on smaller platforms. In this work, we propose a deep reinforcement learning approach for fault-tolerant locomotion under actuator power loss. The method employs an asymmetric actor-critic architecture in which the critic has access to privileged information during training, while the actor learns to reconstruct a corresponding latent representation from proprioceptive ...
| Authors | Giovanbattista Gravina, Luca Rossini, Carlo Rizzardo et al. |
|---|---|
| Primary category | cs.RO |
| Published | 7 August 2026 |
| Last updated at source | 7 August 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.