LatentMimic decouples stylistic fidelity from geometric terrain constraints in quadruped locomotion via marginal latent divergence to a mocap prior and a dynamic replay buffer, yielding higher traversal success than motion-tracking baselines while preserving gait style.
Terrain- aware quadrupedal locomotion via reinforcement learning
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LatentMimic: Terrain-Adaptive Locomotion via Latent Space Imitation
LatentMimic decouples stylistic fidelity from geometric terrain constraints in quadruped locomotion via marginal latent divergence to a mocap prior and a dynamic replay buffer, yielding higher traversal success than motion-tracking baselines while preserving gait style.