mlsanityData to 14 Oct 2026

Offline Adaptation of Quadruped Locomotion using Diffusion Models

arXiv 2411.08832 ↗First posted 13 Nov 2024cs.RO cs.AI cs.LGcited by 3

On the map: Diffusion models → Diffusion and flow policies for robotics

Abstract (arXiv)

We present a diffusion-based approach to quadrupedal locomotion that simultaneously addresses the limitations of learning and interpolating between multiple skills and of (modes) offline adapting to new locomotion behaviours after training. This is the first framework to apply classifier-free guided diffusion to quadruped locomotion and demonstrate its efficacy by extracting goal-conditioned behaviour from an originally unlabelled dataset. We show that these capabilities are compatible with a multi-skill policy and can be applied with little modification and minimal compute overhead, i.e., running entirely on the robots onboard CPU. We verify the validity of our approach with hardware experiments on the ANYmal quadruped platform.

Key facts. Cited by 3 papers in the map (data through 14 Oct 2026). Placed in Diffusion and flow policies for robotics, one of 14 directions in Diffusion models. Builds on 30 of its 39 references that are in the map. First posted on arXiv 13 Nov 2024.

Builds on

30 of 39 references.

Closest ancestors · 5

Same direction, newest first

  1. 2023IDQL: Implicit Q-Learning as an Actor-Critic Method with Diffusion Policies20 Apr
  2. 2023Goal-Conditioned Imitation Learning using Score-based Diffusion Policies5 Apr
  3. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusion7 Mar
  4. 2022Is Conditional Generative Modeling all you need for Decision-Making?28 Nov
  5. 2022Diffusion Policies as an Expressive Policy Class for Offline Reinforcement Learning12 Aug

Other references · 25

  1. 2020Denoising Diffusion Probabilistic Modelscited by 21,076
  2. 2021High-Resolution Image Synthesis with Latent Diffusion Modelscited by 18,863
  3. 2020Score-Based Generative Modeling through Stochastic Differential Equationscited by 9,122
  4. 2022Classifier-Free Diffusion Guidancecited by 5,847
  5. 2019Generative Modeling by Estimating Gradients of the Data Distributioncited by 4,101
  6. 2022Elucidating the Design Space of Diffusion-Based Generative Modelscited by 3,045
  7. 2020Offline Reinforcement Learning: Tutorial, Review, and Perspectives on Open Problemscited by 1,920
  8. 2020Conservative Q-Learning for Offline Reinforcement Learningcited by 1,809
  9. 2016Generative Adversarial Imitation Learningcited by 1,597
  10. 2021Offline Reinforcement Learning with Implicit Q-Learningcited by 1,293
  11. 2022Planning with Diffusion for Flexible Behavior Synthesiscited by 1,061
  12. 2022DPM-Solver++: Fast Solver for Guided Sampling of Diffusion Probabilistic Modelscited by 938
13 more
  1. 2021A Minimalist Approach to Offline Reinforcement Learningcited by 899
  2. 2021Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learningcited by 512
  3. 2019Learning agile and dynamic motor skills for legged robotscited by 504
  4. 2019Sliced Score Matching: A Scalable Approach to Density and Score Estimationcited by 384
  5. 2023ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robotscited by 152
  6. 2020RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Controlcited by 59
  7. 2024DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasetscited by 49
  8. 2023Barkour: Benchmarking Animal-level Agility with Quadruped Robotscited by 41
  9. 2022Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learningcited by 37
  10. 2020Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotioncited by 25
  11. 2022Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotioncited by 12
  12. 2024Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotioncited by 8
  13. 2023A Real-World Quadrupedal Locomotion Benchmark for Offline Reinforcement Learningcited by 3

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 2; 2026: 1.

3 papers.

  1. 2026Beyond Imitation: Reinforcement Learning Fine-Tuning for Adaptive Diffusion Navigation Policiescited by 2
  2. 2025GRoQ-LoCO: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasetscited by 1
  3. 2025Improving Trajectory Stitching with Flow Modelscited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026Learning Quadruped Walking from Seconds of Demonstration
  2. 2025Integrating Diffusion-based Multi-task Learning with Online Reinforcement Learning for Robust Quadruped Robot Control
  3. 2024Preference Aligned Diffusion Planner for Quadrupedal Locomotion Control
  4. 2025Gait in Eight: Efficient On-Robot Learning for Omnidirectional Quadruped Locomotion
  5. 2024Learning Quadruped Locomotion Using Differentiable Simulation
  6. 2025Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy
  7. 2024Reinforcement Learning For Quadrupedal Locomotion: Current Advancements And Future Perspectives
  8. 2025Training Directional Locomotion for Quadrupedal Low-Cost Robotic Systems via Deep Reinforcement Learning