GPC learns a motion vocabulary via Finite Scalar Quantization and end-to-end RL, then trains an autoregressive transformer for next-token control generation, achieving 99.98% motion reproduction success with emergent robustness.
arXiv preprint arXiv:2411.02780 , year=
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GPC: Large-Scale Generative Pretraining for Transferable Motor Control
GPC learns a motion vocabulary via Finite Scalar Quantization and end-to-end RL, then trains an autoregressive transformer for next-token control generation, achieving 99.98% motion reproduction success with emergent robustness.