Iterative Training of Dynamic Skills Inspired by Human Coaching Techniques

Inspired by how humans learn dynamic motor skills through a progressive process of coaching and practices, we introduce an intuitive and interactive framework for developing dynamic controllers. The user only needs to provide a primitive initial controller and high-level, human-readable instructions as if s/he is coaching a human trainee, while the character has the ability to interpret the abstract instructions, accumulate the knowledge from the coach, and improve its skill iteratively. We introduce “control rigs” as an intermediate layer of control module to facilitate the mapping between high-level instructions and low-level control variables. Control rigs also utilize the human coach's knowledge to reduce…

• NS
  National Science Foundation

  Award: NSF1064983
• NI
  National Institutes of Health

  Award: NIH-1NS069655-04