Expert Composer Policy: Scalable Skill Repertoire for Quadruped Robots
Guilherme Christmann,Ying-Sheng Luo,Wei-Chao Chen,Guilherme Christmann,Ying-Sheng Luo,Wei-Chao Chen
We propose the expert composer policy, a framework to reliably expand the skill repertoire of quadruped agents. The composer policy links pair of experts via transitions to a sampled target state, allowing experts to be composed sequentially. Each expert specializes in a single skill, such as a locomotion gait or a jumping motion. Instead of a hierarchical or mixture-of-experts architecture, we tr...
