Preprint Open access
OmniMimic: Dynamics-completed Motion Augmentation for Multi-style Omnidirectional Quadruped Locomotion
Animal demonstrations provide quadruped robots with natural and distinctive gait styles that are difficult to specify through hand-crafted rewards. However, their narrow directional coverage leaves little style-consistent supervision for backward, lateral, and turning commands. We present OmniMimic, a training framewor …