| CPC G06F 30/20 (2020.01) [G06T 7/20 (2013.01); G06F 2111/04 (2020.01); G06T 2207/30241 (2013.01)] | 20 Claims |
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1. A method of generating a motion of an object, comprising:
predicting a motion of a first object based on a motion specification and a first cost function based on a first state of the first object, wherein predicting the motion of the first object based on the motion specification and the first cost function based on the first state of the first object comprises:
determining a motion group including motion clips to use to predict the motion based on a motion type included in the motion specification;
selecting a character state from the motion clips that minimizes the first cost function; and
predicting the motion of the first object based on the selected character state;
refining a motion of the first object based on the predicted motion and a trajectory of a second object controlled by the first object;
generating a control policy based on the refined motion of the first object and a second cost function based on the trajectory of the second object;
generating a vector controlling joints of the first object based on the control policy;
simulating a motion of the first object and the trajectory of the second object based on the generated vector; and
generating a signal to control the motion of a robot based on the simulated motion of the first object.
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