no code implementations • 14 Aug 2023 • Taesoo Kwon, Taehong Gu, Jaewon Ahn, Yoonsang Lee
Using the centroidal dynamics model (CDM) to express the full-body character as a single rigid body (SRB) and training a policy to track a reference motion, we can obtain a policy that is capable of adapting to various unobserved environmental changes and controller transitions without requiring any additional learning.
