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

arXiv:2610.10601 · cs.RO · Submitted 2026-10-06 · Read on arXiv

cs.RO

Submitted: 2026-10-06

Updated: 2026-10-06

Terminology

• Distillation — 12× in this paper · explained in 2 episodes
• Reinforcement Learning — 9× in this paper · explained in 4 episodes
• Imitation Learning — 7× in this paper
• Generalization — 6× in this paper · explained in 13 episodes
• Robustness — 5× in this paper · explained in 5 episodes
• Actor — 4× in this paper · explained in 3 episodes
• Adversarial Motion Priors — 3× in this paper
• Ablation — 2× in this paper · explained in 1 episode
• Catastrophic Forgetting — 2× in this paper · explained in 5 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Imitation Learning (IL) — 2× in this paper · explained in 2 episodes
• Mixture of Experts — 2× in this paper · explained in 2 episodes
• Reward Function — 2× in this paper · explained in 2 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Systematic Bias — 1× in this paper · explained in 3 episodes

Sources

• Barkour: Benchmarking Animal-level Agility with Quadruped Robots
• Learning to Adapt: Representation-Based Reinforcement Learning for Multi-Task Skill Transfer
• Concrete Problems in AI Safety
• Towards Adaptive Humanoid Control via Multi-Behavior Distillation and Reinforced Fine-Tuning
• Kickstarting Deep Reinforcement Learning
• Proximal Policy Optimization Algorithms
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning

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