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Our paper focusing on bio-inspired animal learning for legged locomotion skill acquisition has been accepted for presentation at Robotics: Science and Systems (RSS 2025), which will be held in-person from 21 to 25 June 2025 in Los Angeles, CA, USA. In this work, we present a novel, bio-inspired framework for learning torque-based locomotion policies, by getting inspired by animal growth and simplified muscle models, leading to exceptionally robust and compliant policies with essentially no sim-to-real gap. I am so proud of this achievement, and cannot wait to present our impressive results at this prestigious venue!
Our (initial submission) paper is available on arXiv and from the publications tab. The final paper and openreview comments will be made available soon (as soon as they are made public), as are our code and videos. We truly hope you will enjoy the read/work: