A diffusion-based quadruped locomotion policy uses classifier-free guidance to adapt to new velocity-tracking rewards after training, enabling multi-skill interpolation and onboard CPU deployment.
Barkour: Benchmarking animal-level agility with quadruped robots,
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Offline Adaptation of Quadruped Locomotion using Diffusion Models
A diffusion-based quadruped locomotion policy uses classifier-free guidance to adapt to new velocity-tracking rewards after training, enabling multi-skill interpolation and onboard CPU deployment.