# 释放轮腿机器人的敏捷性用于高动态反射式障碍规避

> 原文链接：https://robotics.hellobike.com/papers/2026-10-08-2604-23761
> 频道：papers | 更新日期：2026-10-08 | 标签：arxiv, cs.RO
> 核心摘要：针对轮腿机器人快速反射规避难题，提出层次强化学习框架AWARE，并在仿真与M20真机上验证。

# 释放轮腿机器人的敏捷性用于高动态反射式障碍规避

::: v-pre
> 原文链接：[Unleashing the Agility of Wheeled-Legged Robots for High-Dynamic Reflexive Obstacle Evasion](https://arxiv.org/abs/2604.23761)（arXiv 2604.23761 · 发布日期：2026-10-08）

**Unleashing the Agility of Wheeled-Legged Robots for High-Dynamic Reflexive Obstacle Evasion**

针对轮腿机器人快速反射规避难题，提出层次强化学习框架AWARE，并在仿真与M20真机上验证。

## 核心要点

- 轮腿机器人兼具滚动效率与腿式适应性，但快速反射规避仍受混合动力学与非完整约束影响。
- AWARE将避障分解为导航避障与反射规避，并由威胁条件化高层策略协调。
- 通过学习专门低层专家，系统发现滚动、迈步和混合主导的规避行为。
- 仿真与M20平台真机评估显示，规避能力提升且可在线切换运动模式。

**验证范围与局限**：验证范围包括不同反应时间和接近方向的仿真实验，以及M20平台真机评估。

## 英文摘要 (Abstract)

Wheeled-legged robots combine the efficiency of rolling with the adaptability of legged locomotion, offering unique agility for dynamic environments. However, enabling rapid reflexive evasion remains challenging due to the coexistence of heterogeneous wheel-leg dynamics, hybrid locomotion modes, and non-holonomic constraints. In this work, we investigate how wheeled-legged robots can exploit their hybrid morphology for high-dynamic obstacle avoidance. We propose AWARE, a hierarchical reinforcement learning framework that decomposes avoidance into navigation-avoidance and reflexive-evasion regimes coordinated by a threat-conditioned high-level policy. By learning specialized low-level experts, AWARE autonomously discovers distinct rolling-, stepping-, and hybrid-dominated evasive behaviors, including forward lunges and lateral dodges. Simulation experiments across different reaction times and approach directions, together with real-robot evaluations on the M20 platform, demonstrate improved evasion capability and effective online transition between locomotion regimes. These results highlight the potential of exploiting hybrid wheel-leg actuation for agile and reactive mobility in dynamic environments. Paper homepage: https://aware-ral-2026.github.io/.

作者：Yongen Zhao, Zihao Xu, Wenzhi Lu, Zhen Chu, Kailin Lyu, Hao Sun, Ce Hao
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## 原始参考来源 (Sources)

- [arXiv 2604.23761：Unleashing the Agility of Wheeled-Legged Robots for High-Dynamic Reflexive Obstacle Evasion](https://arxiv.org/abs/2604.23761)