Volume 1, Issue 2 — August 2026

Transactions on Intelligent Robotics and Autonomous Systems · Volume 1, Issue 2 · Published August 2026 · 10 articles

KAGG:2608.00010 doi: 10.5803/kagg.2608.00010	Velocity Interface Contracts: Specifications and Verification for Legged Robot Middleware Clara Fischer, Diego Navarro, Amelie Laurent Navigation stacks for legged robots rely on implicit assumptions about the velocity interface exposed by locomotion middleware: how quickly a command takes effect, where it saturat…	PDF
KAGG:2608.00009 doi: 10.5803/kagg.2608.00009	Uncertainty-Aware Local Planning for Quadrupeds in Perceptually Degraded Environments Jingyao Sun, Huiwen Cui, Zhaoyu Li, Bowen Huang Airborne dust, fog, and low light corrupt the range measurements on which a legged robot's local planner depends, and they tend to do so precisely when reactive collision avoidance…	PDF
KAGG:2608.00008 doi: 10.5803/kagg.2608.00008	Probing Opaque Velocity Interfaces on Production Quadruped Platforms: A Field Study Andrew Foster, Lena Vasquez, Rajiv Menon Production quadruped platforms expose velocity command interfaces whose internals (gait managers, safety layers, terrain modes) are undocumented, yet navigation planners routinely …	PDF
KAGG:2608.00007 doi: 10.5803/kagg.2608.00007	How Much Future Range Do You Need? An Ablation Study for Agile Quadruped Navigation Minju Seo, Junho Kang, Hyesun Bae Future-range predictors estimate how far a legged robot can travel along control-aligned directions within a prediction horizon H, but the horizon is usually fixed by hand even tho…	PDF
KAGG:2608.00006 doi: 10.5803/kagg.2608.00006	Cross-Embodiment Transfer of Local Navigation Skills via Configuration Randomization Sakura Ishikawa, Kenji Watanabe, Daichi Mori, Aiko Tanaka Local navigation skills learned for one quadruped transfer poorly to another, because leg length, payload, and sensor placement change what the robot perceives and which motions it…	PDF
KAGG:2608.00005 doi: 10.5803/kagg.2608.00005	Range-Plane Abstractions for Legged Robot Navigation in Cluttered Interiors Omar Farouk, Maximilian Weber, Lin Zhao Legged navigation in building interiors needs more than a floor map but much less than a dense volumetric forecast. Two-dimensional floor projections discard the step heights and o…	PDF
KAGG:2608.00004 doi: 10.5803/kagg.2608.00004	Safe Velocity Interface Identification Under Input Saturation Siyuan Cui, Kaiwen Deng, Zhenghao Liu Active calibration of opaque quadruped velocity interfaces, as in GAUGE, issues planner-conditioned probe commands and fits a command-to-motion model online. Informative probes can…	PDF
KAGG:2608.00003 doi: 10.5803/kagg.2608.00003	Embodiment-Conditioned Goal Navigation for Mixed Quadruped-Humanoid Groups Ivan Sokolov, Yating Feng, Rachel Kim, Xiaotong Zhang Mixed groups of quadruped and humanoid robots that navigate toward a common goal differ in footprint, speed envelope, and sensor viewpoint, so a single shared navigation policy is …	PDF
KAGG:2608.00002 doi: 10.5803/kagg.2608.00002	Latent Motion Tokens for Future-Range Prediction in Quadruped Obstacle Avoidance Marcus Hill, Ivan Sokolov, Yating Feng, Rachel Kim Learned range predictors for legged-robot navigation usually regress the free distance along a fixed set of rays. This output format is difficult to condition on the motion the rob…	PDF
KAGG:2608.00001 doi: 10.5803/kagg.2608.00001	Information-Directed Active Calibration of Unknown Velocity Dynamics Daniel Okafor, Priya Raghunathan, Hana Sato Navigation stacks for legged robots usually command a vendor locomotion controller through an opaque velocity interface whose gains, saturation limits, and latency differ from thei…	PDF