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innsikt - Wasserstein Adversarial Imitation Learning System
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
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。
HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation
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.
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