Omnidirectional Amphibious Locomotion via Internal Mass Actuation

arXiv:2609.27358 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Project page: https://generalroboticslab.com/MARBLE

Terminology

• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Steering — 3× in this paper · explained in 2 episodes
• Action Space — 2× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Entanglement — 1× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning
• FlashSAC: Fast and Stable Off-Policy Reinforcement Learning for High-Dimensional Robot Control

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