Notice: The reproducibility variables underlying each score are classified using an automated LLM-based pipeline, validated against a manually labeled dataset. LLM-based classification introduces uncertainty and potential bias; scores should be interpreted as estimates. Full accuracy metrics and methodology are described in Coakley et alK. L. Coakley, T. Snelleman, H. Hoos, and O. E. Gundersen, "The embrace of open science: An analysis of a decade of AI research and 56 800 conference papers," Under Review, 2026..
Universal Humanoid Motion Representations for Physics-Based Control
Authors: Zhengyi Luo, Jinkun Cao, Josh Merel, Alexander Winkler, Jing Huang, Kris M. Kitani, Weipeng Xu
ICLR 2024 | Venue PDF | LLM Run Details
| Reproducibility Variable | Result | LLM Response |
|---|---|---|
| Research Type | Experimental | Table 1: Motion imitation result (*data cleaning) on AMASS train and test (11313 and 138 sequences). ... Table 2: Quantitative results on VR Controller tracking. We report result on AMASS and real-world dataset. ... Table 3: Ablation on various strategies of learning the motion representation. ... Figure 4: Training curves for each one of the generative tasks. |
| Researcher Affiliation | Collaboration | 1Reality Labs Research, Meta; 2Carnegie Mellon University |
| Pseudocode | Yes | Algo 1: Learn PULSE and Downstream Tasks |
| Open Source Code | No | All code and models will be released for research purposes. |
| Open Datasets | Yes | For training PHC+, PULSE, and VR controller policy, we use the cleaned AMASS training set. ... CMU Mo Cap (CMU, 2002) ... Quest Sim (Winkler et al., 2022) |
| Dataset Splits | No | The paper refers to training and testing sets, but does not explicitly define a separate validation set or its split details. |
| Hardware Specification | No | The paper mentions 'Simulation is conducted at Isaac Gym', but does not specify any particular hardware components like GPU models, CPU types, or memory details. |
| Software Dependencies | No | The paper mentions software like 'Isaac Gym' and specific optimization algorithms and activation functions, but does not provide version numbers for any software dependencies or libraries. |
| Experiment Setup | Yes | Simulation is conducted at Isaac Gym (Makoviychuk et al., 2021), where the policy is run at 30 Hz and the simulation at 60 Hz. ... Table 4: Hyperparameters for PHC+ and Pulse. ... PHC+ Batch Size 3072 Learning Rate 2 10^-5 σ 0.05 γ 0.99 ϵ 0.2 ... PULSE Batch Size 3072 Learning Rate 5 10^-4 α 0.005 β 0.01 Latent size 32 |