T-GMP learns a terrain-conditioned latent motion manifold via CVAE from demonstrations and integrates it into an adversarial pipeline with a foothold penalty for versatile, natural humanoid locomotion.
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T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion
T-GMP learns a terrain-conditioned latent motion manifold via CVAE from demonstrations and integrates it into an adversarial pipeline with a foothold penalty for versatile, natural humanoid locomotion.