Unleashing the Agility of Wheeled-Legged Robots for High-Dynamic Reflexive Obstacle Evasion

arXiv:2604.23761 · cs.RO · Submitted 2026-04-26 · Read on arXiv

cs.RO

Submitted: 2026-04-26

Updated: 2026-09-22

Terminology

• Avoidance Maneuver Distance — 6× in this paper
• Reinforcement Learning — 6× in this paper · explained in 4 episodes
• Two-stage training — 5× in this paper · explained in 2 episodes
• Avoidance Success Rate — 4× in this paper
• Energy Efficiency — 4× in this paper · explained in 3 episodes
• Regularization — 4× in this paper · explained in 3 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Core — 3× in this paper · explained in 2 episodes
• Model Predictive Control — 3× in this paper
• Ablation Studies — 2× in this paper · explained in 1 episode
• Adaptability — 2× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Torque-Normalized Acceleration — 2× in this paper
• Transient Escape Acceleration — 2× in this paper
• Computational overhead — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning (DRL) — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Hybrid System — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Mixture of Experts — 1× in this paper · explained in 2 episodes
• Mixture-of-Experts (MoE) — 1× in this paper · explained in 7 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Nonlinear Model Predictive Control — 1× in this paper
• Nonlinear Model Predictive Control (NMPC) — 1× in this paper · explained in 3 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 5 episodes
• Relative Approaching Rate — 1× in this paper
• Reward Function — 1× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes

Sources

• ATRos: Learning Energy-Efficient Agile Locomotion for Wheeled-legged Robots
• REBot: Reflexive Evasion Robot for Instantaneous Dynamic Obstacle Avoidance
• Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
• Dynamic Obstacle Avoidance with Bounded Rationality Adversarial Reinforcement Learning
• GMT: General Motion Tracking for Humanoid Whole-Body Control
• Proximal Policy Optimization Algorithms
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning

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