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Existing methods have demonstrated that some legged robots, such as humanoids and quadrupeds, are capable of fall recovery from diverse postures by utilizing arms or coordinating multi-legs to generate support forces. Without arms or other legs to provide supportive assistance, a bipedal-wheeled robot must rely solely on the actuation of its legs, making recovery particularly difficult. To address this, we introduce FTSR (Force-guided Teacher-student framework with Stage-wise Rewards). The force-guided method constructs an external auxiliary force during simulation training that correlates directly with the robot's real-time height, explicitly formulating this force as an optimizable constraint. Through constrained reinforcement learning, the policy is guided toward reducing force dependency gradually and increasing the body height, developing internal recovery strategies desp","title":"Robust Fall Recovery for Armless Bipedal-Wheeled Robots Via Force-Guided Learning","url":"https://arxiv.org/abs/2606.14270","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.14270v1 Announce Type: cross \nAbstract: Fall recovery is critical for autonomous legged locomotion. Existing methods have demonstrated that some legged robots, such as humanoids and quadrupeds, are capable of fall recovery from diverse postures by utilizing arms or coordinating multi-legs to generate support forces. Without arms or other legs to provide supportive assistance, a bipedal-wheeled robot must rely solely on the actuation of its legs, making recovery particularly difficult. To address this, we introduce FTSR (Force-guided Teacher-student framework with Stage-wise Rewards). The force-guided method constructs an external auxiliary force during simulation training that correlates directly with the robot's real-time height, explicitly formulating this force as an optimizable constraint. Through constrained reinforcement learning, the policy is guided toward reducing force dependency gradually and increasing the body height, developing internal recovery strategies desp","title":"Robust Fall Recovery for Armless Bipedal-Wheeled Robots Via Force-Guided Learning","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-15T04:43:09Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.14270"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:1547ccd54325372d0270dcb9e370d353798ee4cd4567cd96d9a29b8d0bb3db8899d2b3796bc90dc762110e5174da18032d0233ad134f495e92a0e7b5c1803205","signer":"crovia.substrate","subject":{"observed_at":"2026-06-15T04:43:09Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.14270"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"5cbf2828fd396c2cd5e1673371aed092746a1eb640c4daaf44e1d1cf6567b81c","leaf_index":230029,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"89d1252b3c500c877e67cc05cddd1bb43ffdefa2675168b7819f076f96606104","side":"left"},{"sibling":"453e4db6b2f52b83a3a9b45123213e1c9721d1548079cee10dde182efc559861","side":"right"},{"sibling":"3d88161a0684b0793beaa5bd65efc3c735e67ede177a95a3d281a8a636483813","side":"left"},{"sibling":"2561e3b034e864b4aec62a62a6c672bd492bdc8b23b003a209589ed9efd5b7cc","side":"left"},{"sibling":"44b648baf4064264973e9e724295b04f20ca0fcd55e09151b21eb2d65362de71","side":"right"},{"sibling":"6c5bbb65fba0725644d92ff8602c766eb385048966cf278afbefd01d4d7bf36c","side":"right"},{"sibling":"e3b34c889f00d74fe264ac613d3a8396f8c735b6c207dd15c9b4a24a5e511f22","side":"right"},{"sibling":"4facde6857295772880043256429f729859e11968ea6221d9fa688e71b3a2184","side":"left"},{"sibling":"14c50c43949e1ad41f149ffea691627d3f715c5861766c693b9fbac9d03b0d90","side":"right"},{"sibling":"74897e850164dddc689c3c65b33f9bae0268ab0bf429867a4e193d9b9b685040","side":"left"},{"sibling":"bde25d7e94e64717e426a97f6fcb4907e92b5c61fc89d92d7e0947a2249c3f6b","side":"right"},{"sibling":"d10d772a4984cae00e65ab24af21d1d260e475bbaae3f17871859eb705bd3999","side":"right"},{"sibling":"e79159853f2f35ddae8e3247d515e433c534277b287d65bbd77ae989aa4992fa","side":"right"},{"sibling":"3054319f1840cce0eaaf0bc4b1ae38e5bf8b6210927d924a750775cc7d77cca6","side":"right"},{"sibling":"0fd8b5059f279c4a4a6688de2472fdbc25543fee183df19b21dacca880354cff","side":"right"},{"sibling":"a04392fb9f2a3a620840e3b3fecd93d12e6d224e481c162389d8ae64e7194599","side":"left"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":232015,"merkle_root":"62bfb7809bb55667ad7eeebdb48267b9b2c1ee89bb808ea1e6d3a814a15aa402","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260617T133701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-17T13:39:59Z","sig_algorithm":"ed25519","signature":"930a3563c643cc7518d048b12a1f5392a96a5edce49533ba0a56f11b6cc69319bb1c800aacc46b52a6941c4d05dae255a45cac757d6093c971b96852c24f140e","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_eef7a51e199f90d07555e6be82f9604fdeb3ffb3dec68a6006f963a6072f748d"}}