Load-Aware Quadruped Navigation with Contact-based Online Geometry Estimation

Navigating cluttered environments while carrying objects remains a challenging problem for quadruped robots. Compared with extensive works that focused on load-aware locomotion adaptation to maintain gait stability, existing autonomous navigation systems generally ignore the influence of carried objects' geometries and use fixed footprint inflation, leading to overly conservative navigation. To address this, we propose a two-phase load-aware navigation learning framework. In Phase 1, we train LOADNav, a load-aware navigation policy via reinforcement learning, enabling the robot to adapt its trajectory and clearance behavior according to the geometric size of the carried object. In Phase 2, we train CoGE, an online geometry predictor via imitation learning, which estimates unknown payload geometry from occasional contact events. We evaluate the framework in cluttered environments with loads of varying sizes and shapes. The results show that our navigation policy exhibits clear load-aware behaviors, and the online geometry predictor estimates object geometry from occasional contact events, refining its estimate and adapting the navigation behavior accordingly. Without requiring any prior knowledge of the payload, it narrows the gap to geometry-aware policies.