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simmediumlocomotionmetric · varies
GRoQ-LoCO: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasets
Description
Recent advancements in large-scale offline training have demonstrated the potential of generalist policy learning for complex robotic tasks. However, applying these principles to legged locomotion remains a challenge due to continuous dynamics and the need for real-time adaptation across diverse terrains and robot morphologies. In this work, we propose GRoQ-LoCO, a scalable, attention-based framework that learns a single generalist locomotion policy across multiple quadruped robots and terrains,