mlsanityData to 14 Oct 2026

Long-Distance Real-World Navigation of the Legged-Wheeled Robot Go2-W Using Deep Reinforcement Learning

arXiv 2606.21387 ↗First posted 19 Jun 2026cs.ROcited by 0

On the map: Deep reinforcement learning methods → RL for robot locomotion and manipulation

Abstract (arXiv)

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.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Placed in RL for robot locomotion and manipulation, one of 15 directions in Deep reinforcement learning methods. Builds on 27 of its 45 references that are in the map. First posted on arXiv 19 Jun 2026.

Builds on

27 of 45 references.

Closest ancestors · 2

Same direction, newest first

  1. 2024Dexterous Legged Locomotion in Confined 3D Spaces with Reinforcement Learning6 Mar
  2. 2024Reinforcement Learning for Blind Stair Climbing with Legged and Wheeled-Legged Robots9 Feb

Other references · 25

  1. 2017Proximal Policy Optimization Algorithmscited by 15,215
  2. 2018Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actorcited by 4,885
  3. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,498
  4. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
  5. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 604
  6. 2021Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learningcited by 512
  7. 2021RMA: Rapid Motor Adaptation for Legged Robotscited by 508
  8. 2019Learning agile and dynamic motor skills for legged robotscited by 504
  9. 2022Learning robust perceptive locomotion for quadrupedal robots in the wildcited by 382
  10. 2018Sim-to-Real: Learning Agile Locomotion For Quadruped Robotscited by 319
  11. 2017Asymmetric Actor Critic for Image-Based Robot Learningcited by 238
  12. 2021FAST-LIO2: Fast Direct LiDAR-inertial Odometrycited by 183
13 more
  1. 2025MuJoCo Playgroundcited by 78
  2. 2024Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robotscited by 48
  3. 2024PIE: Parkour with Implicit-Explicit Learning Framework for Legged Robotscited by 25
  4. 2021Safe Occlusion-aware Autonomous Driving via Game-Theoretic Active Perceptioncited by 23
  5. 2024Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervisioncited by 17
  6. 2020Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robotscited by 10
  7. 2018Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robotscited by 8
  8. 2020Ascento: A Two-Wheeled Jumping Robotcited by 8
  9. 2024GLIM: 3D Range-Inertial Localization and Mapping with GPU-Accelerated Scan Matching Factorscited by 8
  10. 2024Learning Semantic Traversability with Egocentric Video and Automated Annotation Strategycited by 5
  11. 2020LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loopscited by 4
  12. 2022OA-MPC: Occlusion-Aware MPC for Guaranteed Safe Robot Navigation with Unseen Dynamic Obstaclescited by 2
  13. 2026Learning to Balance Motor Thermal Safety and Quadrupedal Locomotion Performance with Residual Policycited by 1

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  1. 2025ATRos: Learning Energy-Efficient Agile Locomotion for Wheeled-legged Robots
  2. 2020Learning to Walk in the Real World with Minimal Human Effort
  3. 2025Attention-Based Map Encoding for Learning Generalized Legged Locomotion
  4. 2025Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning
  5. 2024Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey
  6. 2024Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
  7. 2024Traversability-Aware Legged Navigation by Learning from Real-World Visual Data
  8. 2024Reinforcement Learning for Wheeled Mobility on Vertically Challenging Terrain