ControlVAE: Model-Based Learning of Generative Controllers for Physics-Based Characters

  title={ControlVAE: Model-Based Learning of Generative Controllers for Physics-Based Characters},
  author={Heyuan Yao and Zhenhua Song and Bao Xin Chen and Libin Liu},
  journal={ACM Trans. Graph.},
In this paper, we introduce ControlVAE, a novel model-based framework for learning generative motion control policies based on variational autoencoders (VAE). Our framework can learn a rich and flexible latent repre- sentation of skills and a skill-conditioned generative control policy from a diverse set of unorganized motion sequences, which enables the generation of realistic human behaviors by sampling in the latent space and allows high-level control policies to reuse the learned skills to… 



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