Friday, July 19, 2024
Google search engine
HomeUncategorizedAdaptNet: Policy Adaptation for Physics-Based Character Control

AdaptNet: Policy Adaptation for Physics-Based Character Control

[Submitted on 30 Sep 2023 (v1), last revised 15 Nov 2023 (this version, v3)]

Download PDF

Abstract:Motivated by humans’ ability to adapt skills in the learning of new ones, this paper presents AdaptNet, an approach for modifying the latent space of existing policies to allow new behaviors to be quickly learned from like tasks in comparison to learning from scratch. Building on top of a given reinforcement learning controller, AdaptNet uses a two-tier hierarchy that augments the original state embedding to support modest changes in a behavior and further modifies the policy network layers to make more substantive changes. The technique is shown to be effective for adapting existing physics-based controllers to a wide range of new styles for locomotion, new task targets, changes in character morphology and extensive changes in environment. Furthermore, it exhibits significant increase in learning efficiency, as indicated by greatly reduced training times when compared to training from scratch or using other approaches that modify existing policies. Code is available at this https URL.

Submission history

From: Pei Xu [view email]

[v1]
Sat, 30 Sep 2023 03:19:51 UTC (44,622 KB)


[v2]
Mon, 9 Oct 2023 15:23:38 UTC (44,622 KB)


[v3]
Wed, 15 Nov 2023 03:44:44 UTC (44,604 KB)

Read More

RELATED ARTICLES

2 COMMENTS

  1. I participated on this gambling website and managed a significant sum of money, but after some time, my mother fell ill, and I wanted to withdraw some money from my casino account. Unfortunately, I encountered difficulties and was unable to finalize the cashout. Tragically, my mother passed away due to the casino site. I implore for your assistance in reporting this website. Please support me to obtain justice, so that others do not undergo the hardship I am going through today, and prevent them from crying tears like mine. 😭😭😭�

LEAVE A REPLY

Please enter your comment!
Please enter your name here

- Advertisment -
Google search engine

Most Popular

Recent Comments