A single locomotion policy trained on 50 simulated robots transfers without fine-tuning to real quadrupeds and to one real humanoid, though a second humanoid needed in-distribution training.
Extreme parkour with legged robots,
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Multi-Embodiment Locomotion at Scale with extreme Embodiment Randomization
A single locomotion policy trained on 50 simulated robots transfers without fine-tuning to real quadrupeds and to one real humanoid, though a second humanoid needed in-distribution training.