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Scenario Imitation

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Neo-X edited this page Sep 19, 2019 · 1 revision

Intro

This scenario is designed to allow a controller to learn how to imitate a given motion capture clip. The clip used to imitate should have two full footsteps in it.

Reward

The reward for this scenario consists of

  1. a pose error term that weights each joint in the pose error differently.
  2. a velocity error term that enchourages the controller to move at a particular velcity.
  3. root_error to enchourage the root of the character to stay up (at 1m about the ground).
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