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[Submitted on 6 Oct 2026] Title:Teaching a Robot Dog New Tricks: Diverse Quadruped Skills via Combined Reinforcement and Imitation Learning with Adversarial Task Selection View a PDF of the paper titled Teaching a Robot Dog New Tricks: Diverse Quadruped Skills via Combined Reinforcement and Imitation Learning with Adversarial Task Selection, by Lemon Foxmere and 5 other authors View PDF HTML (experimental) Abstract:Reinforcement Learning (RL) has enabled legged robots to perform a range of skills in single-task settings. However, applications such as farm robotics or space exploration require diverse skills such as locomotion, digging, or close-range surveying. Training an end-to-end policy to address this problem remains difficult due to challenges such as sample inefficiency and gradient conflict between tasks in multi-task learning. We propose a three-stage method that trains a single policy to perform distinct tasks such as walking, digging, and hopping, and compose them into novel behaviors such as crawling. First, multiple teacher policies are trained using RL on narrowly defined tasks. Then, two additional stages train a student policy with a multi-teacher distillation setup that uses a combined RL and Imitation Learning (IL) objective under an adversarial task selection process that focuses training on the worst-performing task. With this method, we train a student policy that performs 22 tasks using 8 teachers. Evaluations show our method preserves motion quality and tracks commands more accurately than PPO and distill-then-finetune baselines, and in some cases generalizes to new tasks without explicit training. Finally, we demonstrate real-world robustness by deploying the resulting policy on a Unitree B1 quadruped. Video: this https URL Comments: 12 pages, 5 figures Subjects: Robotics (cs.RO) Cite as: arXiv:2610.10601 [cs.RO] (or arXiv:2610.10601v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2610.10601 arXiv-issued DOI via DataCite Submission history From: Anthony Furman [view email] [v1] Tue, 6 Oct 2026 23:16:34 UTC (5,867 KB) Full-text links: Access Paper: View a PDF of the paper titled Teaching a Robot Dog New Tricks: Diverse Quadruped Skills via Combined Reinforcement and Imitation Learning with Adversarial Task Selection, by Lemon Foxmere and 5 other authors View PDF HTML (experimental) TeX Source view license Additional Features Audio Summary Current browse context: cs.RO new | recent | 2026-10 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)