GGSD: Game Self-Play Yields Human-Playable Robot Skills That Solve Unseen Tasks Without Retraining
Seungeun Rho · hf · 2026-10-01
- GGSD (Game-Guided Skill Discovery) discovers human-playable motor skills via competitive self-play: a high-level policy selects from a small discrete skill set while a skill-conditioned low-level policy learns behaviors, competing against past selves.
- After training, a human can replace the high-level policy and control the agent through the same discrete skills; skill transitions also yield emergent combo behaviors beyond individual primitives.
- Validated on Ant, Franka-arm, and Unitree G1 environments: humans compose GGSD skills to solve unseen tasks like Maze and CubePush without additional training. An interactive demo is available.
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