Reference motions are often used as trajectories to track or teachers to distill. We explore a different way of learning from them.I am excited to share our work, Generalizing from References (GfR), to appear at RSS 2026, as a follow-up to our previous HIL work.Using a unified multi-task RL framework, we jointly train reference-guided imitation and goal-driven RL within a single end-to-end policy.No distillation.No RL fine-tuning.Just one policy, trained end-to-end, that learns from references a
0:24
x.comJiashun Wang
Reference motions are often used as trajectories to track or teachers to distill. We explore a different way of learning from them.I am excited to share our work, Generalizing from
Jiashun Wang (@JiashunWang). 65 likes 3 replies. Reference motions are often used as trajectories to track or teachers to distill. We explore a different way of learning from them.I am excited to share our work, Generalizing from References (GfR), to appear at RSS 2026, as a follow-up to our previous HIL work.Using a unified multi-task RL ...
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