Preprint Open access
GAUGE: Planner-Conditioned Active Calibration of Opaque Quadruped Velocity Interfaces
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 system …