LineRides: Line-Guided Reinforcement Learning for Bicycle Robot Stunts

• URL: http://arxiv.org/abs/2605.05110v2
• Date: Fri, 08 May 2026 17:02:40 GMT
• Title: LineRides: Line-Guided Reinforcement Learning for Bicycle Robot Stunts
• Abstract summary: LineRides is a line-guided learning framework that enables a custom bicycle robot to acquire diverse, commandable stunt behaviors.<n>LineRides handles physically infeasible guidelines using a tracking margin that permits controlled deviation.<n>We show that the policy trained with our methods supports seamless transitions between normal driving and stunt execution.
• Score: 11.983924042209447
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Designing reward functions for agile robotic maneuvers in reinforcement learning remains difficult, and demonstration-based approaches often require reference motions that are unavailable for novel platforms or extreme stunts. We present LineRides, a line-guided learning framework that enables a custom bicycle robot to acquire diverse, commandable stunt behaviors from a user-provided spatial guideline and sparse key-orientations, without demonstrations or explicit timing. LineRides handles physically infeasible guidelines using a tracking margin that permits controlled deviation, resolves temporal ambiguity by measuring progress via traveled distance along the guideline, and disambiguates motion details through position- and sequence-based key-orientations. We evaluate LineRides on the Ultra Mobility Vehicle (UMV) and show that the policy trained with our methods supports seamless transitions between normal driving and stunt execution, enabling five distinct stunts on command: MiniHop, LargeHop, ThreePointTurn, Backflip, and DriftTurn.

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