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.
Keywords
Publication details
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Cite this article
APA 7
Zang, T., Liu, Z., Wang, S., Luo, L., Xie, X., Li, C., & Zhang, W. (2026). GAUGE: Planner-Conditioned Active Calibration of Opaque Quadruped Velocity Interfaces. https://omanscience.com/en/articles/gauge-planner-conditioned-active-calibration-of-opaque-quadruped-velocity-interfaces
MLA 9
Zang, Tianhao, et al. "GAUGE: Planner-Conditioned Active Calibration of Opaque Quadruped Velocity Interfaces." https://omanscience.com/en/articles/gauge-planner-conditioned-active-calibration-of-opaque-quadruped-velocity-interfaces.
Chicago (author–date)
Zang, Tianhao, Zihan Liu, Shanze Wang, Liyou Luo, Xingjian Xie, Chengtai Li, and Wei Zhang. 2026. "GAUGE: Planner-Conditioned Active Calibration of Opaque Quadruped Velocity Interfaces." https://omanscience.com/en/articles/gauge-planner-conditioned-active-calibration-of-opaque-quadruped-velocity-interfaces.
Harvard
Zang, T., Liu, Z., Wang, S., Luo, L., Xie, X., Li, C. and Zhang, W. (2026) 'GAUGE: Planner-Conditioned Active Calibration of Opaque Quadruped Velocity Interfaces', Available at: https://omanscience.com/en/articles/gauge-planner-conditioned-active-calibration-of-opaque-quadruped-velocity-interfaces.
Vancouver
Zang T, Liu Z, Wang S, Luo L, Xie X, Li C, et al. GAUGE: Planner-Conditioned Active Calibration of Opaque Quadruped Velocity Interfaces. https://omanscience.com/en/articles/gauge-planner-conditioned-active-calibration-of-opaque-quadruped-velocity-interfaces
IEEE
T. Zang, Z. Liu, S. Wang, L. Luo, X. Xie, C. Li, and W. Zhang, "GAUGE: Planner-Conditioned Active Calibration of Opaque Quadruped Velocity Interfaces," https://omanscience.com/en/articles/gauge-planner-conditioned-active-calibration-of-opaque-quadruped-velocity-interfaces.