SkillBlender pretrains reusable goal-conditioned skills and blends them with softmax per-joint weights to solve simulated humanoid loco-manipulation tasks with one or two reward terms.
Adversarial motion priors make good substitutes for complex reward functions
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SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending
SkillBlender pretrains reusable goal-conditioned skills and blends them with softmax per-joint weights to solve simulated humanoid loco-manipulation tasks with one or two reward terms.