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FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand 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Reinforcement Learning Accelerating Transformer-Based Monocular SLAM via Geometric Utility Scoring 3D-VCD: Hallucination Mitigation in 3D-LLM Embodied Agents through Visual Contrastive Decoding Action Images: End-to-End Policy Learning via Multiview Video Generation Towards Generalizable Robotic Manipulation in Dynamic Environments General-purpose LLMs as Models of Human Driver Behavior: The Case of Simplified Merging Uncertainty, Vagueness, and Ambiguity in Human-Robot Interaction: Why Conceptualization Matters IROSA: Interactive Robot Skill Adaptation using Natural Language Online Navigation Planning for Long-term Autonomous Operation of Underwater Gliders Optimized Human-Robot Co-Dispatch Planning for Petro-Site Surveillance under Varying Criticalities MerNav: A Highly Generalizable Memory-Execute-Review Framework for Zero-Shot Object Goal Navigation From Instruction to Event: Sound-Triggered Mobile Manipulation Self-Organizing Dual-Buffer Adaptive Clustering Experience Replay 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Robust Verification of Controllers under State Uncertainty via Hamilton-Jacobi Reachability Analysis Towards Deploying VLA without Fine-Tuning: Plug-and-Play Inference-Time VLA Policy Steering via Embodied Evolutionary Diffusion Volumetric Ergodic Control RoboTAG: End-to-end Robot Configuration Estimation via Topological Alignment Graph TwinOR: Photorealistic Digital Twins of Dynamic Operating Rooms for Embodied AI Research Multimodal Diffusion Forcing for Forceful Manipulation X-Diffusion: Training Diffusion Policies on Cross-Embodiment Human Demonstrations Hierarchical DLO Routing with Reinforcement Learning and In-Context Vision-language Models Flow with the Force Field: Learning 3D Compliant Flow Matching Policies from Force and Demonstration-Guided Simulation Data AFFORD2ACT: Affordance-Guided Automatic Keypoint Selection for Generalizable and Lightweight Robotic Manipulation HAMLET: Switch your Vision-Language-Action Model into a History-Aware Policy TimeRewarder: Learning Dense Reward from Passive Videos via Frame-wise Temporal Distance Multi-Modal Manipulation via Multi-Modal Policy Consensus AutoDrive-R$^2$: Incentivizing Reasoning and Self-Reflection Capacity for VLA Model in Autonomous Driving Constrained Decoding for Safe Robot Navigation Foundation Models FCBV-Net: Category-Level Robotic Garment Smoothing via Feature-Conditioned Bimanual Value Prediction PRIX: Learning to Plan from Raw Pixels for End-to-End Autonomous Driving LLM-based Realistic Safety-Critical Driving Video Generation Scalable Multi-Task Learning through Spiking Neural Networks with Adaptive Task-Switching Policy for Intelligent Autonomous Agents Learning to Play Piano in the Real World Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integration Sixth-Sense: Self-Supervised Learning of Spatial Awareness of Humans from a Planar Lidar Curriculum-based Sample Efficient Reinforcement Learning for Robust Stabilization of a Quadrotor Generative Models and Connected and Automated Vehicles: A Survey in Exploring the Intersection of Transportation and AI Convex Hulls of Reachable Sets
Long-Distance Real-World Navigation of the Legged-Wheeled Robot Go2-W Using Deep Reinforcement Learning
[Submitted on 19 Jun 2026] · 2026-06-23 · via cs.RO updates on arXiv.org

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Abstract:Legged-wheeled robots have long been studied for their potential to combine the efficient flat-ground mobility of wheels with the rough-terrain capability of legs. However, examples of their application to long-range autonomous navigation in real environments remain limited. This paper reports our effort to build a deep reinforcement learning (DRL) based locomotion controller and an autonomous navigation system for the commercially available legged-wheeled robot Go2-W, and to apply them to long-range autonomous navigation in a real environment. For locomotion control, we extended a proprioception-only policy, which we had previously developed for quadruped robots, to the 16-DoF legged-wheeled robot. We also found that wheeled locomotion concentrates the load on the hip joints and causes heat concentration that hinders sustained travel, and obtained a policy that suppresses it by distributing the load. We evaluated the system at the Tsukuba Challenge 2025, demonstrating that it can autonomously traverse an approximately 2.8 km route including sidewalks, a park, and stairs without stopping due to overheating.

Submission history

From: Kiyoshi Irie [view email]
[v1] Fri, 19 Jun 2026 12:53:37 UTC (6,397 KB)

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