CADD: Conditional Adversarial Differential Discriminator for Whole-Body Humanoid Imitation
Overview video
Interactive reward landscape
Motion
Error axis
MPJPE-L: mean body-position error relative to the root [cm]
Position tracking error e_pos: root and bodies [cm]
Key-body position error: hands, feet, head [cm]
Mean body-orientation error [deg]
Mean joint-angle error [deg]
CADD
ADD
BeyondMimic-reward