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 framework that turns directionally limited animal demonstrations into a single multi-gait policy over target per-axis velocity ranges. OmniMimic first combines temporal reversal, constrained dynamics completion, and sagittal reflection to construct robot-specific kinematic and physical supervision beyond the observed directions. It then expands commands progressively from the demons...
| Authors | Sheng Wu, Guoqiang Zhao, Zhe Yang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 17 September 2026 |
| Last updated at source | 17 September 2026 |
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