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Perpetual Humanoid Control for Real-time Simulated Avatars. (arXiv:2305.06456v1 [cs.CV])
cs.CV updates on arXiv.org arxiv.org
We present a physics-based humanoid controller that achieves high-fidelity
motion imitation and fault-tolerant behavior in the presence of noisy input
(e.g. pose estimates from video or generated from language) and unexpected
falls. Our controller scales up to learning ten thousand motion clips without
using any external stabilizing forces and learns to naturally recover from
fail-state. Given reference motion, our controller can perpetually control
simulated avatars without requiring resets. At its core, we propose the
progressive multiplicative control policy (PMCP), which …
arxiv avatars behavior control fidelity generated language physics real-time video