LoComposition: Terrain-Adaptive Energy-Efficient Quadruped Locomotion without Gait Priors

arXiv:2606.15896 · cs.RO, cs.LG · Submitted 2026-06-14 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-06-14

Updated: 2026-10-12

Code: https://github.com/leggedrobotics/elevation_mapping_cupy

Project page: https://tinyurl.com/locomposition

Terminology

• Adaptation — 1× in this paper · explained in 1 episode

Sources

• Stochastic Decision Horizons for Survival-Based Constrained Reinforcement Learning
• Proximal Policy Optimization Algorithms
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning

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