project

Latent space investigation for quadruped locomotion control

Janosch Bajorath

Project page in progress — the poster pages carry the current state.

An encoder maps the robot’s proprioceptive history to a latent $z_t$; a controller maps $z_t$ and the body state to joint actions. Nothing else carries dynamic information or task intent. The project investigates the latent through four lenses — probeability, local continuity, temporal predictability, coverage — and asks whether its evolution across training can drive a curriculum.

See the WHERE 2026 and SAB 2026 posters for the current state.