SMAP uses a vector-quantized periodic autoencoder to adapt human motion into physically plausible humanoid motion, then distills an RL teacher policy into a student policy for whole-body control.
Carnegie-Mellon mocap database
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SMAP: Self-supervised Motion Adaptation for Physically Plausible Humanoid Whole-body Control
SMAP uses a vector-quantized periodic autoencoder to adapt human motion into physically plausible humanoid motion, then distills an RL teacher policy into a student policy for whole-body control.