A two-stage reinforcement learning pipeline with a mixture of latent residual experts gives a Unitree G1 humanoid multiple commanded human-like gaits over complex terrains.
Adapting humanoid locomotion over challenging terrain via two-phase training,
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MoRE: Mixture of Residual Experts for Humanoid Lifelike Gaits Learning on Complex Terrains
A two-stage reinforcement learning pipeline with a mixture of latent residual experts gives a Unitree G1 humanoid multiple commanded human-like gaits over complex terrains.