At Disney, we are redefining entertainment robotics from the ground up and are building artist-centric tools that provide creative control of dynamic character motion. In this talk, I will provide new insights into our robotic character platform that enables the rapid design of freely roaming robotic characters like our BDX Droids. I will highlight how our characters learn to imitate artist-specified animations with a combination of deep reinforcement learning and GPU-accelerated simulation. Moreover, I will show how we get our characters to perform highly challenging motions at the limit of hardware and demonstrate the first results of bringing engaging autonomous interactions to them.