Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: RMA: Rapid Motor Adaptation for Legged Robots   Successful real-world deployment of legged robots would require them to adapt
in real-time to unseen scenarios like changing terrains, changing payloads,
wear and tear. This paper presents Rapid Motor Adaptation (RMA) algorithm to
solve this problem of real-time online adaptation in quadruped robots. RMA
consists of two components: a base policy and an adaptation module. The
combination of these components enables the robot to adapt to novel situations
in fractions of a second. RMA is trained completely in simulation without using
any domain knowledge like reference trajectories or predefined foot trajectory
generators and is deployed on the A1 robot without any fine-tuning. We train
RMA on a varied terrain generator using bioenergetics-inspired rewards and
deploy it on a variety of difficult terrains including rocky, slippery,
deformable surfaces in environments with grass, long vegetation, concrete,
pebbles, stairs, sand, etc. RMA shows state-of-the-art performance across
diverse real-world as well as simulation experiments. Video results at
https://ashish-kmr.github.io/rma-legged-robots/

36
The categories of this paper are: cmp-lg
28
The categories of this paper are: alg-geom
19
The categories of this paper are: eess
6
The categories of this paper are: astro-ph
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The categories of this paper are: supr-con
11
The categories of this paper are: hep-lat
12
The categories of this paper are: nucl-th
31
The categories of this paper are: ao-sci
7
The categories of this paper are: hep-th
3
The categories of this paper are: physics
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The categories of this paper are: dg-ga
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The categories of this paper are: solv-int
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The categories of this paper are: nlin
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The categories of this paper are: comp-gas
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The categories of this paper are: patt-sol
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The categories of this paper are: stat