# 基于在线接触式几何估计的载荷感知四足机器人导航

> 原文链接：https://robotics.hellobike.com/papers/2026-10-10-2610-14596
> 频道：papers | 更新日期：2026-10-10 | 标签：arxiv, cs.RO
> 核心摘要：提出两阶段载荷感知导航学习框架，结合LOADNav与CoGE，在杂乱环境不同载荷上验证四足机器人导航。

# 基于在线接触式几何估计的载荷感知四足机器人导航

::: v-pre
> 原文链接：[Load-Aware Quadruped Navigation with Online Contact-based Geometry Estimation](https://arxiv.org/abs/2610.14596)（arXiv 2610.14596 · 发布日期：2026-10-10）

**Load-Aware Quadruped Navigation with Online Contact-based Geometry Estimation**

提出两阶段载荷感知导航学习框架，结合LOADNav与CoGE，在杂乱环境不同载荷上验证四足机器人导航。

## 核心要点

- 携带物体穿越杂乱环境仍具挑战，固定足迹膨胀会导致导航过于保守。
- LOADNav通过强化学习训练，使机器人按载荷几何尺寸调整轨迹和间隙行为。
- CoGE通过模仿学习从偶发接触事件在线估计未知载荷几何，并据此调整导航。
- 实验显示策略具有载荷感知行为，无需载荷先验即可缩小与几何感知策略的差距。

**验证范围与局限**：评估范围为杂乱环境中不同尺寸和形状载荷的导航任务。

## 英文摘要 (Abstract)

Navigating cluttered environments while carrying objects remains a challenging problem for quadruped robots. Compared with works that focused on load-aware locomotion adaptation to maintain gait stability, existing autonomous navigation systems generally ignore the influence of carried objects' geometries and use fixed footprint inflation, leading to overly conservative navigation. To fill this knowledge gap, we propose a two-phase load-aware navigation learning framework. In Phase 1, we train LOADNav, a load-aware navigation policy via reinforcement learning, enabling the robot to adapt its trajectory and clearance behavior according to the geometric size of the carried object. In Phase 2, we train CoGE, an online geometry predictor via imitation learning, which estimates unknown payload geometry from occasional contact events. We evaluate the framework in cluttered environments with loads of varying sizes and shapes. The results show that our navigation policy exhibits clear load-aware behaviors, and the online geometry predictor estimates object geometry from occasional contact events, refining its estimate and adapting the navigation behavior accordingly. Without requiring any prior knowledge of the payload, it narrows the gap to geometry-aware policies.

作者：Qi Yin, XiaoLi Zhang, Yangming Shi
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## 原始参考来源 (Sources)

- [arXiv 2610.14596：Load-Aware Quadruped Navigation with Online Contact-based Geometry Estimation](https://arxiv.org/abs/2610.14596)