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cs.RO2025
APEX: Action Priors Enable Efficient Exploration for Robust Motion Tracking on Legged Robots
Shivam Sood, Laukik Nakhwa, Sun Ge +7
Learning natural, animal-like locomotion from demonstrations has become a core paradigm in legged robotics. Despite the recent advancements in motion tracking, most existing method…
cs.RO2025
Walk Like Dogs: Learning Steerable Imitation Controllers for Legged Robots from Unlabeled Motion Data
Dongho Kang, Jin Cheng, Fatemeh Zargarbashi +3
We present an imitation learning framework that extracts distinctive legged locomotion behaviors and transitions between them from unlabeled real-world motion data. By automaticall…
cs.RO2025
APEX: Action Priors Enable Efficient Exploration for Robust Motion Tracking on Legged Robots
Shivam Sood, Laukik Nakhwa, Sun Ge +7
Learning natural, animal-like locomotion from demonstrations has become a core paradigm in legged robotics. While motion tracking can reproduce reference gaits, many approaches sti…