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

Mix

3

4

OpenAI Humanoid

RNN

5

[ q, f ]q f

XX = [q0, f0, ..., qT, fT ]T

C( X ) X

C( X ) X 7

7

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

C( X ) X

9

C( X ) X

C( X ) X NN

10

Google

C( X )

11

[ q, f ]q f

XX = [q0, f0, ..., qT, fT ]T

C( X ) X

C( X ) X 12

12

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

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

13

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

X RNN

st at

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

st at st+1 14q0 , f0 , r0q1 , f1 , r1q2 , f2 , r2q3 , f3 , r3

NN

NN

NN

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 ]

n X1...Xn

X1...Xn SGD

NN16

()

New!

17

100200 NN

NN3250

NN

NN

RNN

20