GAUGE: Planner-Conditioned Active Calibration of Opaque Quadruped Velocity Interfaces

arXiv:2609.32154 · cs.RO · Submitted 2026-09-26 · Read on arXiv

cs.RO

Submitted: 2026-09-26

Updated: 2026-09-26

Code: https://github.com/EurekaZang/CalibAgent

Terminology

• Calibration — 57× in this paper · explained in 7 episodes
• Accuracy — 13× in this paper · explained in 1 episode
• System Identification — 6× in this paper · explained in 3 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Adaptation — 5× in this paper · explained in 1 episode
• Epistemic Uncertainty — 4× in this paper · explained in 10 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Inverse Problem — 2× in this paper · explained in 2 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Active Excitation — 1× in this paper · explained in 1 episode
• Active Exploration — 1× in this paper · explained in 2 episodes
• Bayesian Optimization — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Fisher Information — 1× in this paper · explained in 3 episodes
• Goal-Aware Uncertainty-Guided Exploration — 1× in this paper
• Regularization — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• Rapid Embodiment Adaptation for Quadrupedal Locomotion
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning

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