# Quadruped-control preprint proposes sensor-light adaptation

_Tuesday, August 25, 2026 at 4:23 AM EDT · Robotics, Science · Latest · Tier 2 — Notable_

Researchers reported CARO, a preprint framework that adds a torque-level residual observation to a quadruped robot's reinforcement-learning control loop. The approach embeds a fixed-base Euler-Lagrange model and uses a disturbance observer to signal dynamics mismatch, without torque sensors, contact estimation or vision-based floating-base measurements. The authors report improved zero-shot robustness in simulation and sim-to-real tasks involving out-of-distribution payloads, center-of-mass shifts, terrain changes, abrupt dynamics changes and elevated-platform landings.

## Sources

- [arXiv Query: search_query=cat:cs.RO&id_list=&start=0&max_results=30](https://arxiv.org/abs/2608.24217v1)

---
Canonical: https://techandbusiness.org/newswire/ssETp0xLueZ2MMeHi9Ybn8
Retrieved: 2026-08-26T04:49:23.139Z
Publisher: Tech & Business (techandbusiness.org)