LatentMimic: Terrain-Adaptive Locomotion via Latent Space Imitation

ArXi:2604.16440v1 Announce Type: cross Developing natural and diverse locomotion controllers for quadruped robots that can adapt to complex terrains while preserving motion style remains a significant challenge. Existing imitation-based methods face a fundamental optimization trade-off: strict adherence to motion capture (mocap) references penalizes the geometric deviations required for terrain adaptability, whereas terrain-centric policies often compromise stylistic fidelity. We