{"id":"https://openalex.org/W7162490257","doi":"https://doi.org/10.48550/arxiv.2605.27046","title":"Learning to Balance Motor Thermal Safety and Quadrupedal Locomotion Performance with Residual Policy","display_name":"Learning to Balance Motor Thermal Safety and Quadrupedal Locomotion Performance with Residual Policy","publication_year":2026,"publication_date":"2026-05-26","ids":{"openalex":"https://openalex.org/W7162490257","doi":"https://doi.org/10.48550/arxiv.2605.27046"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.27046","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.27046","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.27046","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137123307","display_name":"Yuhang Wan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wan, Yuhang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137126654","display_name":"Weixian Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Weixian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038718511","display_name":"Letian Qian","orcid":"https://orcid.org/0000-0003-3300-5409"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qian, Letian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104205645","display_name":"Yiqi Zou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zou, Yiqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101820090","display_name":"Weiwei Wu","orcid":"https://orcid.org/0000-0002-9533-6417"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Weiwei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137164653","display_name":"Shengwei Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liao, Shengwei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137173576","display_name":"Chuanlin Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Chuanlin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137165823","display_name":"Xin Luo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luo, Xin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.982200026512146,"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":0.982200026512146,"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":0.005799999926239252,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.0020000000949949026,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/overheating","display_name":"Overheating (electricity)","score":0.7990999817848206},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.5188000202178955},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49300000071525574},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.41440001130104065},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.3765999972820282},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3668999969959259}],"concepts":[{"id":"https://openalex.org/C2778284599","wikidata":"https://www.wikidata.org/wiki/Q25340000","display_name":"Overheating (electricity)","level":2,"score":0.7990999817848206},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.5188000202178955},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49300000071525574},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4918999969959259},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.41440001130104065},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3971000015735626},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.3765999972820282},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3668999969959259},{"id":"https://openalex.org/C154750914","wikidata":"https://www.wikidata.org/wiki/Q4304910","display_name":"Motor drive","level":2,"score":0.34860000014305115},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32339999079704285},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.31290000677108765},{"id":"https://openalex.org/C204530211","wikidata":"https://www.wikidata.org/wiki/Q752823","display_name":"Thermal","level":2,"score":0.3052999973297119},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.28780001401901245},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.2815000116825104},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.2694000005722046},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.25949999690055847},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.25369998812675476}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.27046","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.27046","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.27046","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.27046","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Motor":[0],"thermal":[1,35,58,98,126],"management":[2],"is":[3,18,66,81],"often":[4],"overlooked":[5],"in":[6,169],"the":[7,42,87,96,117,141,148,161],"context":[8],"of":[9,37,74,86],"electrically-actuated":[10],"robots,":[11,14],"particularly":[12],"legged":[13],"but":[15],"motor":[16,48,57,108,125,167],"overheating":[17,109,168],"a":[19,33,38,52,63,70,134,144],"key":[20],"factor":[21],"that":[22,116],"limits":[23],"long-duration":[24],"locomotion":[25,71,129,152],"especially":[26],"under":[27,103,110,143],"payload":[28],"conditions.":[29,112],"This":[30],"paper":[31],"integrates":[32],"whole-body":[34],"model":[36],"quadruped":[39,137],"robot":[40,138,149],"into":[41],"reinforcement":[43],"learning":[44],"pipeline":[45],"to":[46,90,166],"update":[47],"temperatures,":[49],"and":[50,106,128],"proposes":[51],"two-stage":[53],"training":[54],"framework":[55],"for":[56,156],"management.":[59],"In":[60],"this":[61],"framework,":[62],"nominal":[64,88,162],"policy":[65,80,89,119,163],"first":[67],"pre-trained":[68],"as":[69],"baseline":[72],"capable":[73],"traversing":[75],"diverse":[76],"terrains.":[77],"A":[78],"residual":[79],"then":[82],"trained":[83],"on":[84,95,133],"top":[85],"provide":[91],"corrective":[92],"actions":[93],"based":[94],"robot's":[97],"state,":[99],"ensuring":[100],"high":[101],"performance":[102],"low-temperature":[104],"conditions":[105],"preventing":[107],"high-temperature":[111],"Simulation":[113],"results":[114],"demonstrate":[115],"proposed":[118],"achieves":[120,150],"an":[121],"effective":[122],"balance":[123],"between":[124],"safety":[127],"performance.":[130],"Real-world":[131],"experiments":[132],"Unitree":[135],"A1":[136],"further":[139],"validate":[140],"approach:":[142],"3":[145],"kg":[146],"payload,":[147],"stable":[151],"across":[153],"multiple":[154],"terrains":[155],"over":[157],"13":[158],"minutes,":[159],"while":[160],"alone":[164],"leads":[165],"about":[170],"5":[171],"minutes.":[172]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-28T00:00:00"}