English

Learning Multi-Skill Legged Locomotion Using Conditional Adversarial Motion Priors

Robotics 2025-09-29 v1

Abstract

Despite growing interest in developing legged robots that emulate biological locomotion for agile navigation of complex environments, acquiring a diverse repertoire of skills remains a fundamental challenge in robotics. Existing methods can learn motion behaviors from expert data, but they often fail to acquire multiple locomotion skills through a single policy and lack smooth skill transitions. We propose a multi-skill learning framework based on Conditional Adversarial Motion Priors (CAMP), with the aim of enabling quadruped robots to efficiently acquire a diverse set of locomotion skills from expert demonstrations. Precise skill reconstruction is achieved through a novel skill discriminator and skill-conditioned reward design. The overall framework supports the active control and reuse of multiple skills, providing a practical solution for learning generalizable policies in complex environments.

Keywords

Cite

@article{arxiv.2509.21810,
  title  = {Learning Multi-Skill Legged Locomotion Using Conditional Adversarial Motion Priors},
  author = {Ning Huang and Zhentao Xie and Qinchuan Li},
  journal= {arXiv preprint arXiv:2509.21810},
  year   = {2025}
}
R2 v1 2026-07-01T05:57:43.432Z