MASkillBlender: Decentralized Whole-Body Coordination for Multi-Humanoid Loco-Manipulation via Skill Blending
MASkillBlender is a reinforcement learning framework for coordinating multiple robots to perform complex tasks by learning a shared high-level policy over reusable, pre-trained single-humanoid skills. It achieves decentralized whole-body coordination using only task rewards, eliminating the need for specific motion references, and employs data augmentation to improve training efficiency.