Abstract: Performing diverse motor skills with a universal controller has been a longstanding challenge for legged robots. While motion imitation-based reinforcement learning (RL) has shown remarkable performance in reproducing designed motor skills, the trained controller is only suitable for one specific type of motion. Motion synthesis has been well developed to generate a variety of different motions for character animation, but those motions only contain kinematic information and cannot be used for control. In this study, we introduce a control pipeline combining motion synthesis and motion imitation-based RL for generic motor skills. We design an animation state machine to synthesize motion from various sources and feed the generated kinematic reference trajectory to the RL controller as part of the input. With the proposed method, we show that a single policy is able to learn various motor skills simultaneously. Further, we notice the ability of the policy to uncover the correlations lurking behind the reference motions to improve control performance. We analyze this ability based on the predictability of the reference trajectory and use the quantified measurements to optimize the design of the controller. To demonstrate the effectiveness of our method, we deploy the trained policy on hardware and, with a single control policy, the quadruped robot can perform various learned skills, including automatic gait transitions, high kick, and forward jump.

Key words: Quadruped robot; Reinforcement learning (RL); Motion synthesis; Control

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