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.
Rma: Rapid motor adaptation for legged robots
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A teacher-student RL policy distillation approach combined with procedural tunnel generation enables quadruped robots to traverse narrow tunnels consistently in both simulation and real-world tests.
citing papers explorer
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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.
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Robot Squid Game: Quadrupedal Locomotion for Traversing Narrow Tunnels
A teacher-student RL policy distillation approach combined with procedural tunnel generation enables quadruped robots to traverse narrow tunnels consistently in both simulation and real-world tests.