Diff-CAST replaces GAN discriminators with diffusion-based priors and adds symmetric command conditioning plus constrained RL to enable versatile, drift-free, and hardware-safe quadruped locomotion.
Coordinated humanoid robot locomotion with symmetry equivari- ant reinforcement learning policy
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Constraint-Aware Diffusion Priors for High-Fidelity and Versatile Quadruped Locomotion
Diff-CAST replaces GAN discriminators with diffusion-based priors and adds symmetric command conditioning plus constrained RL to enable versatile, drift-free, and hardware-safe quadruped locomotion.