摘要
The goal of our research is to control a physics-based character that learns several dynamic motor skills using conditional Generative adversarial imitation learning(GAIL). We present a network-based learning algorithm that learns various motor skills and changing motions between the motor skills from disparate motion clips. The overall framework for our controller is composed of a control policy which generates a character’s behavior, and a discriminator which induces the policy to produce proper motions from a user’s commands. The discriminator and the policy take outputs from each other as input and improve each performance through an adversarial training process. Using this system, when a user commands a specific motion to the character, the character can design a motion plan to perform the motion from the current pose. We demonstrated the effectiveness of our approach through examples with an interactive character that learns various dynamics motor skills and follows a user command in the physics simulation.