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 | Conference PDF | Archive PDF | Plain Text | 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 |