{"id":"https://openalex.org/W4416677424","doi":"https://doi.org/10.1109/lra.2025.3632081","title":"MULE - Multi-Terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotion","display_name":"MULE - Multi-Terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotion","publication_year":2025,"publication_date":"2025-11-12","ids":{"openalex":"https://openalex.org/W4416677424","doi":"https://doi.org/10.1109/lra.2025.3632081"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3632081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3632081","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035506341","display_name":"Vamshi Kumar Kurva","orcid":"https://orcid.org/0000-0001-7201-5031"},"institutions":[{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Vamshi Kumar Kurva","raw_affiliation_strings":["Department of Computer Science and Automation, Indian Institute of Science, Bengaluru, India"],"raw_orcid":"https://orcid.org/0000-0001-7201-5031","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Automation, Indian Institute of Science, Bengaluru, India","institution_ids":["https://openalex.org/I59270414"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084523677","display_name":"Shishir Kolathaya","orcid":"https://orcid.org/0000-0001-8689-2318"},"institutions":[{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Shishir Kolathaya","raw_affiliation_strings":["Centre for Cyber-Physical Systems and the Department of Computer Science and Automation, Indian Institute of Science, Bengaluru, India"],"raw_orcid":"https://orcid.org/0000-0001-8689-2318","affiliations":[{"raw_affiliation_string":"Centre for Cyber-Physical Systems and the Department of Computer Science and Automation, Indian Institute of Science, Bengaluru, India","institution_ids":["https://openalex.org/I59270414"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5035506341"],"corresponding_institution_ids":["https://openalex.org/I59270414"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.33380744,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"1","first_page":"474","last_page":"481"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9797000288963318,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9797000288963318,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.009600000455975533,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.00139999995008111,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.7692999839782715},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.767799973487854},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6794999837875366},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6791999936103821},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.6378999948501587},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6216999888420105},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5392000079154968},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5220000147819519},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4603999853134155}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7692999839782715},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.767799973487854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6794999837875366},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6791999936103821},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6577000021934509},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.6378999948501587},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6216999888420105},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5392000079154968},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5220000147819519},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4603999853134155},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.44999998807907104},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4424000084400177},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4154999852180481},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4027999937534332},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.39989998936653137},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.375900000333786},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.36329999566078186},{"id":"https://openalex.org/C109751979","wikidata":"https://www.wikidata.org/wiki/Q998767","display_name":"Failover","level":2,"score":0.3513000011444092},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3285999894142151},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.30640000104904175},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2937000095844269},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29100000858306885},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.26930001378059387},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26759999990463257},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.2660999894142151},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.26109999418258667},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.25929999351501465},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.25540000200271606}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3632081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3632081","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2746499955","https://openalex.org/W2911087563","https://openalex.org/W2951360122","https://openalex.org/W3112664346","https://openalex.org/W3175254947","https://openalex.org/W3196685263","https://openalex.org/W3211963501","https://openalex.org/W4205967660","https://openalex.org/W4383108274","https://openalex.org/W4385732121","https://openalex.org/W4401415301","https://openalex.org/W4401608518","https://openalex.org/W4405785287","https://openalex.org/W4413945059"],"related_works":[],"abstract_inverted_index":{"Quadrupedal":[0],"robots":[1,58],"deployed":[2],"for":[3,101],"load-carrying":[4],"applications":[5],"must":[6],"maintain":[7],"stable":[8],"locomotion":[9,88],"across":[10,89,118],"diverse":[11],"terrains":[12,90,126,188],"and":[13,34,64,91,125,131,139,155,173,193,207],"varying":[14],"payloads.":[15,107],"Traditional":[16],"approaches":[17],"like":[18],"Model":[19],"Predictive":[20],"Control":[21],"(MPC)":[22],"can":[23],"handle":[24],"such":[25,189],"variations":[26,104],"but":[27],"often":[28],"rely":[29],"on":[30,69,162,186,201],"predefined":[31],"gait":[32,74],"schedules":[33],"manually":[35],"tuned":[36],"trajectory":[37],"planners,":[38],"limiting":[39],"adaptability":[40],"in":[41,115],"unstructured":[42],"environments.":[43],"To":[44],"address":[45],"this,":[46],"we":[47],"propose":[48],"an":[49,92],"adaptive":[50,196],"reinforcement":[51],"learning":[52],"(RL)":[53],"framework":[54],"that":[55,85,97],"enables":[56],"quadrupedal":[57],"to":[59,62,106,151,156],"respond":[60],"dynamically":[61],"terrain":[63],"payload":[65,175,202],"changes":[66],"without":[67,209],"relying":[68],"contact":[70],"force":[71],"measurements":[72],"or":[73],"designs.":[75],"The":[76,181,195],"controller":[77],"consists":[78],"of":[79,147],"a":[80,163],"<italic":[81,93],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[82,94,121],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">nominal":[83],"policy</i>":[84,96],"learns":[86],"general":[87],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">adaptive":[95],"outputs":[98],"corrective":[99],"actions":[100],"handling":[102],"dynamic":[103,174],"due":[105],"We":[108],"validate":[109],"our":[110],"approach":[111],"through":[112],"extensive":[113],"simulations":[114],"Isaac":[116],"Gym":[117],"payloads":[119],"(<inline-formula":[120],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[122],"notation=\"LaTeX\">$2--10$</tex-math></inline-formula>":[123],"kg)":[124],"including":[127,177],"flat":[128],"ground,":[129],"slopes,":[130],"stairs.":[132],"Our":[133],"method":[134],"achieves":[135],"higher":[136],"success":[137],"rates":[138],"lower":[140],"height-tracking":[141],"errors":[142],"while":[143],"maintaining":[144],"the":[145,152,167],"Cost":[146],"Transport":[148],"(CoT)":[149],"comparable":[150],"best-performing":[153],"baselines":[154],"no-load":[157],"(NL)":[158],"operation.":[159],"Real-world":[160],"deployment":[161],"Unitree":[164],"Go1":[165],"confirms":[166],"approach's":[168],"effectiveness":[169],"under":[170],"both":[171],"static":[172],"changes,":[176,203],"freely":[178],"moving":[179],"masses.":[180],"policy":[182,197],"also":[183],"performs":[184],"well":[185],"outdoor":[187],"as":[190],"grass,":[191],"soil,":[192],"staircases.":[194],"modulates":[198],"corrections":[199],"based":[200],"improving":[204],"body":[205],"stability":[206],"tracking":[208],"post-deployment":[210],"fine-tuning.":[211]},"counts_by_year":[],"updated_date":"2025-11-28T20:26:02.787088","created_date":"2025-11-12T00:00:00"}