Research
Active Embodiment Identification with Reinforcement Learning for Legged Robots
arXiv:2605.08020v1 Announce Type: new Abstract: We present an active embodiment identification method for legged robots that jointly learns information-seeking behavior and explicit embodiment predict
arXiv:2605.08020v1 Announce Type: new Abstract: We present an active embodiment identification method for legged robots that jointly learns information-seeking behavior and explicit embodiment prediction. Using a history-augmented URMA architecture, the method infers joint-level and global embodiment parameters through interaction with the environment in simulation across different morphologies.
Source: arXiv cs.RO | 2026-05-11