SamCon: PyBullet Implementation Demos

Reference Motion from AMASS Dataset

ref1

ref2

PD Controller vs SamCon vs CMAES-Improved-SamCon

motion skill: walk

walk_pd

walk_samcon

walk_improved_samcon

motion skill: run-jump-walk

run_pd

run_samcon

run_improved_samcon

motion skill: kick

kick_pd

kick_samcon

kick_improved_samcon

motion skill: cartwheel

cartwheel_pd

cartwheel_samcon

cartwheel_improved_samcon

Learning Process of CMAES-Improved-SamCon

lp_run_jump_walk

lp_kick