الباحثون

Chenghua Liu

المنشورات 2

نسخة أولية وصول مفتوح

Flow-Matched Motion Priors: Online Optimal-Transport Rewards for Imitation Learning

Yilin Zou, Chenghua Liu, Chenglong Wu وآخرون · 2026

Learning a motion prior requires a reward that guides a policy from its current behavior toward demonstrated motion. Adversarial Motion Priors (AMP) provide such a reward with a discriminator. However, adversarial objectives can become uninformative when policy and expert supports are far apart. A naive use of optimal …

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