OmniMimic: Dynamics-completed Motion Augmentation for Multi-style Omnidirectional Quadruped Locomotion

Abstract: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 demonstrated velocity distribution toward the target per-axis bounds, and uses a shared actor with soft-gated, gait-specialized residual experts to balance reusable locomotion skills with gait-specific corrections. Across four gaits in simulation, OmniMimic reduces mean foot-position RMSE at forward and backward reference velocities by 12.9% and velocity-tracking RMSE on a uniform Cartesian command grid by 63.1%, compared with the matched APEX baseline. The project page is at this https URL.

Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV); Image and Video Processing (eess.IV)

arXiv:2609.20566 [cs.RO]

(or arXiv:2609.20566v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.20566 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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