Marla Eisman

RACER: Residual-Adaptive Closed-Loop Estimation for Sampling-Based Planning in Wheeled-Quadruped Racing

We present RACER, a hierarchical control framework for wheel-based quadruped racing that combines an MPPI planner with a learned residual dynamics model and a low-level RL velocity tracker. The planner augments a nominal unicycle kinematic model with a neural residual term to capture the closed-loop tracking behavior o...