A two-stage teacher-student distillation produces a single Transformer policy that reaches 94.47% of specialist teacher reward on five training morphologies and 72.64% on an unseen quadruped.
Multi- embodiment legged robot control as a sequence modeling problem,
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UniLegs: Universal Multi-Legged Robot Control through Morphology-Agnostic Policy Distillation
A two-stage teacher-student distillation produces a single Transformer policy that reaches 94.47% of specialist teacher reward on five training morphologies and 72.64% on an unseen quadruped.