Disney Research

We propose to create autonomous interactive robots, by training a model to imitate operator data.

We present a constrained Rigid Body Dynamics (RBD) that guarantees satisfaction of kinematic constraints, enabling direct simulation of complex mechanical systems with arbitrary kinematic structures.

We introduce a novel method that integrates kinematic generative models with physics based character control. Our approach begins by training a reward surrogate to predict the performance of the downstream non-differentiable control task, offering an efficient and differentiable loss function.