A diffusion policy pretrained on offline gait data and then finetuned with PPO achieves robust language-conditioned quadruped control with 50 Hz onboard inference.
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
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Integrating Diffusion-based Multi-task Learning with Online Reinforcement Learning for Robust Quadruped Robot Control
A diffusion policy pretrained on offline gait data and then finetuned with PPO achieves robust language-conditioned quadruped control with 50 Hz onboard inference.