2026
A Practical Multi-Body Model Enabling a Flexible-Wheeled Robot to Learn Blind Stair Climbing
RA-L 2026
Controlling a flexible wheeled robot for complex tasks such as stair climbing is highly challenging. The nonlinearity inherent in soft materials hinders accurate modeling, creating a trade-off in Reinforcement Learning (RL) between simulation fidelity and learning speed. We propose an RL-friendly, m