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OmniMimic: Dynamics-completed Motion Augmentation for Multi-style Omnidirectional Quadruped Locomotion

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Animal demonstrations provide quadruped robots with natural and distinctive gait styles that are difficult to specify through hand-crafted rewards. However, their narrow directional coverage leaves little style-consistent supervision for backward, lateral, and turning commands. We present OmniMimic, a training framework that turns directionally limited animal demonstrations into a single multi-gait policy over target per-axis velocity ranges. OmniMimic first combines temporal reversal, constrained dynamics completion, and sagittal reflection to construct robot-specific kinematic and physical s

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