Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Adversarial Motion Priors Make Good Substitutes for Complex Reward
  Functions   Training a high-dimensional simulated agent with an under-specified reward
function often leads the agent to learn physically infeasible strategies that
are ineffective when deployed in the real world. To mitigate these unnatural
behaviors, reinforcement learning practitioners often utilize complex reward
functions that encourage physically plausible behaviors. However, a tedious
labor-intensive tuning process is often required to create hand-designed
rewards which might not easily generalize across platforms and tasks. We
propose substituting complex reward functions with "style rewards" learned from
a dataset of motion capture demonstrations. A learned style reward can be
combined with an arbitrary task reward to train policies that perform tasks
using naturalistic strategies. These natural strategies can also facilitate
transfer to the real world. We build upon Adversarial Motion Priors -- an
approach from the computer graphics domain that encodes a style reward from a
dataset of reference motions -- to demonstrate that an adversarial approach to
training policies can produce behaviors that transfer to a real quadrupedal
robot without requiring complex reward functions. We also demonstrate that an
effective style reward can be learned from a few seconds of motion capture data
gathered from a German Shepherd and leads to energy-efficient locomotion
strategies with natural gait transitions.

31
The categories of this paper are: ao-sci
14
The categories of this paper are: math-ph
2
The categories of this paper are: math
15
The categories of this paper are: nucl-ex
34
The categories of this paper are: chem-ph
21
The categories of this paper are: adap-org
12
The categories of this paper are: nucl-th
37
The categories of this paper are: supr-con
16
The categories of this paper are: stat
3
The categories of this paper are: physics
20
The categories of this paper are: acc-phys
4
The categories of this paper are: cond-mat
28
The categories of this paper are: alg-geom
0
The categories of this paper are: hep-ph
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The categories of this paper are: hep-lat
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The categories of this paper are: q-fin