# OpenGo: An OpenClaw-Based Robotic Dog with Real-Time Skill Switching

arXiv: https://arxiv.org/abs/2604.01708 · HTML: https://mlsanity.com/paper/2604.01708/

## Key facts

- Cited by 1 papers in the map (data through 7 Oct 2026).
- Builds on 18 of its 18 references that are in the map.
- First posted on arXiv 2 Apr 2026.

## Builds on (most cited first, 18 of 18)

- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [Eureka: Human-Level Reward Design via Coding Large Language Models](https://mlsanity.com/paper/2310.12931/) (2023)
- [Learning Quadrupedal Locomotion over Challenging Terrain](https://mlsanity.com/paper/2010.11251/) (2020)
- [VIMA: General Robot Manipulation with Multimodal Prompts](https://mlsanity.com/paper/2210.03094/) (2022)
- [Learning robust perceptive locomotion for quadrupedal robots in the wild](https://mlsanity.com/paper/2201.08117/) (2022)
- [Robot Parkour Learning](https://mlsanity.com/paper/2309.05665/) (2023)
- [ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots](https://mlsanity.com/paper/2306.14874/) (2023)
- [QUAR-VLA: Vision-Language-Action Model for Quadruped Robots](https://mlsanity.com/paper/2312.14457/) (2023)
- [SayTap: Language to Quadrupedal Locomotion](https://mlsanity.com/paper/2306.07580/) (2023)
- [Lifelong Robot Library Learning: Bootstrapping Composable and Generalizable Skills for Embodied Control with Language Models](https://mlsanity.com/paper/2406.18746/) (2024)
- [Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models](https://mlsanity.com/paper/2404.05291/) (2024)

## Built on by (most cited first, 1 of 1)

- [MindHelper: Closed-Loop Embodied Mental-State Reasoning for Precision Intervention](https://mlsanity.com/paper/2606.01063/) (2026)

## Abstract (arXiv)

Adaptation to complex tasks and multiple scenarios remains a significant challenge for a single robot agent. The ability to acquire organize, and switch between a wide range of skills in real time, particularly in dynamic environments, has become a fundamental requirement for embodied intelligence. We introduce OpenGo, an OpenClaw-powered embodied robotic dog capable of switching skills in real time according to the scene and task instructions. Specifically, the agent is equipped with (1) a customizable skill library with easy skill import and autonomous skill validation, (2) a dispatcher that selects and invokes different skills according to task prompts or language instructions, and (3) a self-learning framework that fine-tunes skills based on task completion and human feedback. We deploy the agent in Unitree's Go2 robotic dog and validate its capabilities in self-checking and switching of skills autonomously. In addition, by integrating Feishu-platform communication, we enable natural-language guidance and human feedback, allowing inexperienced users to control the robotic dog through simple instructions.