Teaching a Robot Dog New Tricks: Diverse Quadruped Skills via Combined Reinforcement and Imitation Learning with Adversarial Task Selection

Reinforcement Learning (RL) has enabled legged robots to perform a range of skills in single-task settings. However, applications such as farm robotics or space exploration require diverse skills such as locomotion, digging, or close-range surveying. Training an end-to-end policy to address this pro