ABSTRACT
Locomotion in humans and animals is highly coordinated, with many joints moving together. Learning similar coordinated locomotion in articulated virtual characters, in the absence of reference motion data, is a challenging task due to the high number of degrees of freedom and the redundancy that comes with it. In this paper, we present a method for learning locomotion for virtual characters in a low dimensional latent space which defines how different joints move together. We introduce a technique called motor babble, wherein a character interacts with its environment by actuating its joints through uncoordinated, low-level (motor) excitations, resulting in a corpus of motion data from which a manifold latent space is extracted. Dimensions of the extracted manifold define a wide variety of synergies pertaining to the character and, through reinforcement learning, we train the character to learn locomotion in the latent space by selecting a small set of appropriate latent dimensions, along with learning the corresponding policy.
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