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Nico Bohlinger

4 accepted papers

2025

Bridge the Gap: Enhancing Quadruped Locomotion with Vertical Ground Perturbations

Maximilian Stasica, Arne Bick, Nico Bohlinger, Omid Mohseni, Max Johannes Alois Fritzsche, Clemens Hübler +2
IROS 2025

Legged robots, particularly quadrupeds, excel at navigating rough terrains, yet their performance under vertical ground perturbations, such as those from oscillating surfaces, remains underexplored. This study introduces a novel approach to enhance quadruped locomotion robustness by training the Uni

Cited by 2Source ↗Scholar ↗
2025

Gait in Eight: Efficient On-Robot Learning for Omnidirectional Quadruped Locomotion

Nico Bohlinger, Jonathan Kinzel, Daniel Palenicek, Lukasz Antczak, Jan Peters
IROS 2025

On-robot Reinforcement Learning is a promising approach to train embodiment-aware policies for legged robots. However, the computational constraints of real-time learning on robots pose a significant challenge. We present a framework for efficiently learning quadruped locomotion in just 8 minutes of

Cited by 7Source ↗code ↗Scholar ↗
2025

Towards Embodiment Scaling Laws in Robot Locomotion

Bo Ai, Liu Dai, Nico Bohlinger, Dichen Li, Tongzhou Mu, Zhanxin Wu +4
CoRL 2025poster

Developing generalist agents that operate across diverse tasks, environments, and robot embodiments is a grand challenge in robotics and artificial intelligence. While substantial progress has been made in cross-task and cross-environment generalization, achieving broad generalization to novel embod…

Cited by 0Source ↗Scholar ↗
2024

One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion

Nico Bohlinger, Grzegorz Czechmanowski, Maciej Piotr Krupka, Piotr Kicki, Krzysztof Walas, Jan Peters +1
CoRL 2024poster

Deep Reinforcement Learning techniques are achieving state-of-the-art results in robust legged locomotion. While there exists a wide variety of legged platforms such as quadruped, humanoids, and hexapods, the field is still missing a single learning framework that can control all these different emb…

Cited by 14Source ↗code ↗Scholar ↗