Presentation for the Agile Robotics Workshop at ICRA 2024

FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning

Real-time motion tracking

Fallback ablation

Motion transitions

Fallback mechanism

Backflip Comparison

CoRL 2022 Oral Presentation

Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions

Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations

Accompanying video

Novel behaviors

Policy deployment

Versatile policy

Unlabeled mixed motions

Backflip - single

ANYmal Wave

ANYmal Backflip

Only Joint Information

Wave - velocity control

Regularization reward ablation

Termination reward ablation

The impact of tail heaving amplitude on thrust generation

a3 - 5 - Leading

The impact of tail actuating frequency on thrust generation

a3 - 2 - Seperation

a3 - 3 - Alignment

a4 - 2 - drawback

a3 - 4 - Cohesion

a3 - 7 - Collision Avoidance