Learning Energy-Efficient Air--Ground Actuation for Hybrid Robots on Stair-Like Terrain

arXiv:2603.26687 · cs.RO, cs.AI · Submitted 2026-03-13 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-03-13

Updated: 2026-09-19

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Reinforcement Learning — 9× in this paper · explained in 4 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Actor — 2× in this paper · explained in 3 episodes
• Cosine Similarity — 2× in this paper · explained in 3 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Ablation study — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Credit assignment — 1× in this paper · explained in 3 episodes
• Energy Efficiency — 1× in this paper · explained in 3 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Hybrid System — 1× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes

Sources

• Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
• Proximal Policy Optimization Algorithms

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