A skeletal humanoid agent trained with adversarial imitation learning and a progressive speed curriculum tracks target walking speeds while keeping lower-limb joint angles within about 5 degrees of a synthetic reference.
Gait analysis methods in rehabilitation,
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Learning Speed-Adaptive Walking Agent Using Imitation Learning with Physics-Informed Simulation
A skeletal humanoid agent trained with adversarial imitation learning and a progressive speed curriculum tracks target walking speeds while keeping lower-limb joint angles within about 5 degrees of a synthetic reference.