Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Self-Imitation Learning of Locomotion Movements through Termination
  Curriculum   Animation and machine learning research have shown great advancements in the
past decade, leading to robust and powerful methods for learning complex
physically-based animations. However, learning can take hours or days,
especially if no reference movement data is available. In this paper, we
propose and evaluate a novel combination of techniques for accelerating the
learning of stable locomotion movements through self-imitation learning of
synthetic animations. First, we produce synthetic and cyclic reference movement
using a recent online tree search approach that can discover stable walking
gaits in a few minutes. This allows us to use reinforcement learning with
Reference State Initialization (RSI) to find a neural network controller for
imitating the synthesized reference motion. We further accelerate the learning
using a novel curriculum learning approach called Termination Curriculum (TC),
that adapts the episode termination threshold over time. The combination of the
RSI and TC ensures that simulation budget is not wasted in regions of the state
space not visited by the final policy. As a result, our agents can learn
locomotion skills in just a few hours on a modest 4-core computer. We
demonstrate this by producing locomotion movements for a variety of characters.

16
The categories of this paper are: stat
10
The categories of this paper are: q-bio
11
The categories of this paper are: hep-lat
24
The categories of this paper are: dg-ga
12
The categories of this paper are: nucl-th
8
The categories of this paper are: hep-ex
19
The categories of this paper are: eess
17
The categories of this paper are: q-fin
3
The categories of this paper are: physics
18
The categories of this paper are: econ
0
The categories of this paper are: hep-ph
13
The categories of this paper are: quant-ph
14
The categories of this paper are: math-ph
35
The categories of this paper are: mtrl-th
4
The categories of this paper are: cond-mat
2
The categories of this paper are: math