MUJICA: Multi-skill Unified Joint Integration of Control Architecture for Wheeled-Legged Robots

• URL: http://arxiv.org/abs/2605.13058v1
• Date: Wed, 13 May 2026 06:31:18 GMT
• Title: MUJICA: Multi-skill Unified Joint Integration of Control Architecture for Wheeled-Legged Robots
• Abstract summary: We propose a unified, fully proprioceptive control framework for wheeled-legged robots.<n>MUJICA integrates diverse low-level skills including omnidirectional moving, high platform climbing, and fall recovery-within a single policy.<n>We validate our framework in both simulation and real-world experiments on the Unitree Go2-W robot.
• Score: 32.237659116389075
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Wheeled-legged robots hold promise for traversing complex terrains and offer superior mobility compared to legged robots. However, wheeled-legged robots must effectively balance both wheeled driving and legged control. Furthermore, due to noisy proprioceptive sensing and real-world motor constraints, realizing robust and adaptive locomotion at peak performance of motors remains challenging. We propose the Multi-skill Unified Joint Integration of Control Architecture (MUJICA), a unified, fully proprioceptive control framework for wheeled-legged robots that integrates diverse low-level skills-including omnidirectional moving, high platform climbing, and fall recovery-within a single policy. All skills, distinguished by unique indicator variables, are trained jointly with accurate DC-motor constraint modeling. Additionally, a high-level skill selector is learned to dynamically choose the optimal skill based solely on proprioceptions, enabling adaptive responses to the surrounding environment. Therefore, MUJICA enhances sim-to-real robustness and enables seamless transitions across diverse locomotion modes, facilitating autonomous adjustment to the environment. We validate our framework in both simulation and real-world experiments on the Unitree Go2-W robot, demonstrating significant improvements in adaptability and task success in unstructured environments.

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