論文紹介：interactive control of diverse complex characters......

Interactive Control of Diverse Complex Characters with Neural Networks

Interactive Control of Diverse Complex Characters with Neural NetworksIgor Mordatch, Kendall Lowrey, Galen Andrew, Zoran Popovic, Emanuel Todorov @ Univ. Washington. 2017/03/23

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[ q, f ]q f

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C( X ) X 7

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2012 3 C( X ) Mordatch, et. al. Discovery of Complex Behaviors through Contact-Invariant Optimization, SIGGRAPH 20128

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[ q, f ]q f

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C( X ) X 12

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[ q, f ] [ q, f, r ]q fr

XX = [q0, f0 , r0, ..., qT, fT , rT ]

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XX = [q0, f0 , r0, ..., qT, fT , rT ]

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st = [ qt , rt , q t-1 , ft-1 ]qt t rt t q t-1 t-1 f t-1 t-1

at = [ q t , r t , f t ]q t t r t t f t t

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C( X ) X minimize X C( X )

C( X ) Xi

minimize , X1Xn i [ C( Xi ) + t at(Xi) ( st(Xi) ) 2 ] 15

minimize , X1Xn i [ C( Xi ) + t at(Xi) ( st(Xi) ) 2 ]

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