AMP: Adversarial Motion Priors for Stylized Physics-Based Character Control (Paper Explained)

#reiforcementlearning #gan #imitationlearning Learning from demonstrations is a fascinating topic, but what if the demonstrations are not exactly the behaviors we want to learn? Can we adhere to a dataset of demonstrations and still achieve a specified goal? This paper uses GANs to combine goal-achieving reinforcement learning with imitation learning and learns to perform well at a given task while doing so in the style of a given presented dataset. The resulting behaviors include many realistic-looking transitions between the demonstrated movements. OUTLINE: 0:00 - Intro & Overview 1:25 - Problem Statement 6:10 - Reward Signals 8:15 - Motion Prior from GAN 14:10 - Algorithm Overview 20:15 - Reward Engineering & Experimental Results 30:40 - Conclusion & Comments Paper: Main Video: Supplementary Video: Abstract: Synthesizing graceful and life-like behaviors for physically simulated chara