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Symmetry Considerations for Learning Task Symmetric Robot Policies
Past methods on encouraging symmetry for robotic tasks have studied this topic mainly in a single-task setting, where symmetry usually refers to symmetry in the motion, such as the gait patterns.
Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning
Imitation learning approaches such as adversarial motion priors aim to reduce this problem by encouraging a pre-defined motion style.
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