A robot training framework, SDAX, uses unsupervised skill discovery as an exploration signal with a learned balancing weight, letting a Unitree A1 learn leap, climb, crawl, and wall-jump behaviors in simulation and on hardware.
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Unsupervised Skill Discovery as Exploration for Learning Agile Locomotion
A robot training framework, SDAX, uses unsupervised skill discovery as an exploration signal with a learned balancing weight, letting a Unitree A1 learn leap, climb, crawl, and wall-jump behaviors in simulation and on hardware.