SOURCE-LINKED INTELLIGENCE
Feedback-Modulated Harmonic Policies for Quadruped Locomotion
Learned quadruped locomotion policies commonly map observations directly to joint-level actions, leaving the periodic structure of locomotion implicit in the policy. We investigate an alternative representation in which each joint trajectory is expressed as a command-conditioned Fourier series and modified online using feedback from the robot state. A context network generates the Fourier coefficients and the weights of a per-step feedback network, whose outputs adjust joint offsets, harmonic gains, frequency, and phase during execution. In simulation, we examine this explicit frequency struct
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- arXiv · AI, language, vision and robotics · 2026-09-16T00:08:37.000Z
First collected: 2026-09-20T08:20:57.646Z. This is not the publication date.