Author

Jan Peters

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Preprint Aug 2026

Rapid Embodiment Adaptation for Quadrupedal Locomotion

This work introduces an online embodiment adaptation framework for quadrupedal locomotion that infers embodiment parameters from short interaction histories and conditions control on the inferred hardware state to demonstrate the practicality of explicit online embodiment identification for rapid adaptation to joint-li...

Di-Chen Li, Bo Ai, Nico Bohlinger et al. · 4 citations