robotics
Animal Gaits Learned to Move Sideways and Backward
Dynamics-completed demonstrations cut quadruped velocity-tracking error 63.1% on a Cartesian command grid.
Summary
Dynamics-completed demonstrations cut quadruped velocity-tracking error 63.1% on a Cartesian command grid.
Animal demonstrations usually show only a few directions. OmniMimic combines time reversal, constrained dynamics completion and sagittal reflection to create robot-specific supervision beyond those motions, then widens commands toward target velocity ranges. A shared policy uses gait-specialized residual experts for corrections. Across four simulated gaits, it reduced foot-position error 12.9% at forward and backward reference speeds and velocity-tracking error 63.1% on a uniform command grid versus the matched baseline.
Why it matters
Dynamics-completed demonstrations cut quadruped velocity-tracking error 63.1% on a Cartesian command grid.
Limits and context
- Animal demonstrations usually show only a few directions.
Key claims
Dynamics-completed demonstrations cut quadruped velocity-tracking error 63.1% on a Cartesian command grid.
Qualification: Animal demonstrations usually show only a few directions.
Evidence: source-2026-09-19-012
Sources
- arXiv preprint 2609.20566arXiv · primary research
Corrections
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