
自然な全身運動パターンを複製し、シームレスな移行を実現するためのWasserstein Adversarial Imitation Learning Systemが紹介されました。


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人間の動きを学ぶ-ヒューマノイドロボットの自然な運動と移行


人間の動きを学ぶ：ヒューマノイドロボットの自然な運動と移行


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The author presents a novel Wasserstein adversarial imitation learning system that enables humanoid robots to acquire natural locomotion skills by imitating human demonstrations. The approach involves a unified primitive-skeleton motion retargeting technique and the use of the Wasserstein-1 distance with soft boundary constraints to ensure stable training dynamics.


HumanMimic-Learning-Natural-Locomotion-and-Transitions-for-Humanoid-Robot-via-Wasserstein-Adversarial-Imitation


HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation
