A single goal-conditioned RL policy trained on contact plans performs multiple gaits and bimanual manipulation tasks on quadruped and humanoid robots.
Physically consistent humanoid loco-manipulation using latent diffusion models,
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Learning to Act Through Contact: A Unified View of Multi-Task Robot Learning
A single goal-conditioned RL policy trained on contact plans performs multiple gaits and bimanual manipulation tasks on quadruped and humanoid robots.