SG-CPG: Severity-Gated Central Pattern Generators for Adaptive Quadruped Locomotion under Continuous Actuator Degradation

arXiv:2609.25687 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-22 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-22

Updated: 2026-09-22

Terminology

• Adaptation — 15× in this paper · explained in 1 episode
• Ablation — 4× in this paper · explained in 1 episode
• Cost of Transport — 4× in this paper
• Decode — 3× in this paper · explained in 2 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Limit Cycles — 1× in this paper · explained in 2 episodes

Sources

• Learning to Balance Motor Thermal Safety and Quadrupedal Locomotion Performance with Residual Policy
• Learning Thermal-Aware Locomotion Policies for an Electrically-Actuated Quadruped Robot
• Saving the Limping: Fault-tolerant Quadruped Locomotion via Reinforcement Learning
• AcL: Action Learner for Fault-Tolerant Quadruped Locomotion Control
• Residual Policy Learning

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