SHOES: Sim-to-real Hardware-adaptation via On-policy Expansion of Skills for Legged Robots
Overview
SHOES is a sample-efficient framework for adapting legged robots to footwear-induced morphology changes. It uses simulation-trained policies and fine-tunes lightweight modules on real robots, with SafeBox for constrained adaptation. Experiments on Unitree Go2 show performance recovery after morphology changes. (2026-10-14).
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- arXiv Robotics — research abstractsSHOES: Sim-to-real Hardware-adaptation via On-policy Expansion of Skills for Legged Robots
SHOES is a sample-efficient framework for adapting locomotion policies to footwear-induced morphology changes in legged robots. It freezes a simulation-trained nominal policy and fine-tunes lightweight modulation modules on the robot, while introducing SafeBox for constrained online adaptation. Simulation and real-world experiments on a Unitree Go2 demonstrate significant performance recovery after morphology changes.
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