# GAUGE：面向不透明四足机器人速度接口的规划器条件化主动校准

> 原文链接：https://robotics.hellobike.com/papers/2026-09-26-2609-32154
> 频道：papers | 更新日期：2026-09-26 | 标签：arxiv, cs.RO
> 核心摘要：GAUGE针对商业四足速度命令与实际运动偏差，基于贝叶斯模型主动选试验，并在受控响应族和Isaac Sim导航地图验证。

# GAUGE：面向不透明四足机器人速度接口的规划器条件化主动校准

::: v-pre
> 原文链接：[GAUGE: Planner-Conditioned Active Calibration of Opaque Quadruped Velocity Interfaces](https://arxiv.org/abs/2609.32154)（arXiv 2609.32154 · 发布日期：2026-09-26）

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

GAUGE针对商业四足速度命令与实际运动偏差，基于贝叶斯模型主动选试验，并在受控响应族和Isaac Sim导航地图验证。

## 核心要点

- 商业四足常开放平面速度命令，但底层控制器不可访问，导致命令与实际运动存在系统偏差。
- GAUGE维护贝叶斯命令到运动模型，并按规划器诱导的命令分布选择授权试验以降低后验认知不确定性。
- 在三个受控响应族中，GAUGE比被动、D-optimal和任务无关替代方法用更少试验达到联合准则。
- 在六个留出的Isaac Sim导航地图上，GAUGE满足相对密集校准的声明非劣界限；代码已开源。

**验证范围与局限**：验证范围限于三个受控响应族及六个留出的Isaac Sim导航地图。

## 英文摘要 (Abstract)

In this paper, we present a Goal-Aware Uncertainty-Guided Exploration (GAUGE) framework for planner-conditioned active calibration of opaque quadruped velocity interfaces. Commercial quadrupeds commonly expose planar-velocity commands, but the underlying locomotion controller remains inaccessible and can produce systematic discrepancies between commanded and realized motion. A navigation planner typically uses a structured subset of the command envelope. GAUGE maintains a Bayesian command-to-motion model and selects authorized trials according to their expected reduction of posterior epistemic uncertainty under the planner-induced command distribution. The resulting posterior supports validation-based stopping, bounded inverse compensation, and task-relevant recalibration after detected interface shifts. In three controlled response families, GAUGE reaches the joint criterion for task-facing accuracy and uncertainty with fewer trials than passive, D-optimal, and task-agnostic alternatives. Across six held-out Isaac Sim navigation maps, it meets the declared noninferiority margins against dense calibration. Code is available at https://github.com/EurekaZang/CalibAgent.

作者：Tianhao Zang, Zihan Liu, Shanze Wang, Liyou Luo, Xingjian Xie, Chengtai Li, Wei Zhang
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## 原始参考来源 (Sources)

- [arXiv 2609.32154：GAUGE: Planner-Conditioned Active Calibration of Opaque Quadruped Velocity Interfaces](https://arxiv.org/abs/2609.32154)