Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior

arXiv:2310.01408v2 Announce Type: replace-cross
Abstract: The agility of animals, particularly in complex activities such as running, turning, jumping, and backflipping, stands as an exemplar for robotic system design. Transferring this suite of behaviors to legged robotic systems introduces essential inquiries: How can a robot be trained to learn multiple locomotion behaviors simultaneously? How can the robot execute these tasks with a smooth transition? How to integrate these skills for wide-range applications? This paper introduces the Versatile Instructable Motion prior (VIM) …

agile arxiv cs.ai cs.lg cs.ro generalized prior type