URSA extends quality-diversity actor-critic with learned skill spaces, safety constraints, and world-model training, enabling real-world unsupervised skill discovery on a quadruped.
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From Tabula Rasa to Emergent Abilities: Discovering Robot Skills via Real-World Unsupervised Quality-Diversity
URSA extends quality-diversity actor-critic with learned skill spaces, safety constraints, and world-model training, enabling real-world unsupervised skill discovery on a quadruped.