Adaptive-MHE: A Sampling-Based Adaptive MPC for Legged Loco-Manipulation via Moving Horizon Estimation

arXiv:2609.17832 · cs.RO · Submitted 2026-09-15 · Read on arXiv

cs.RO

Submitted: 2026-09-15

Updated: 2026-09-15

Terminology

• Adaptation — 19× in this paper · explained in 1 episode
• System Identification — 10× in this paper · explained in 3 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Accuracy — 2× in this paper · explained in 1 episode
• Active Exploration — 2× in this paper · explained in 2 episodes
• Fisher Information — 2× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Sampling-based Parameter Identification — 2× in this paper
• Consistency — 1× in this paper · explained in 3 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 3 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes
• Optimal Transport — 1× in this paper · explained in 5 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Technical University of Munich — 1× in this paper

Sources

• System Identification under Constraints and Disturbance: A Bayesian Estimation Approach
• Learning to Act Through Contact: A Unified View of Multi-Task Robot Learning
• Sampling-Based Control via Entropy-Regularized Optimal Transport
• Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
• Shield-Loco: Shielding Locomotion Policies with Predictive Safety Filtering
• PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots
• Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning
• The CMA Evolution Strategy: A Tutorial

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