Task-Centric Policy Optimization from Misaligned Motion Priors
This addresses the challenge of aligning human demonstrations with robotic tasks for humanoid control, though it is incremental as it builds on adversarial imitation learning.
The paper tackled the problem of using misaligned human motion priors for humanoid control, which degrades task performance, by proposing Task-Centric Motion Priors (TCMP) as a task-priority adversarial imitation framework, resulting in robust task performance with consistent motion style under noisy demonstrations.
Humanoid control often leverages motion priors from human demonstrations to encourage natural behaviors. However, such demonstrations are frequently suboptimal or misaligned with robotic tasks due to embodiment differences, retargeting errors, and task-irrelevant variations, causing naïve imitation to degrade task performance. Conversely, task-only reinforcement learning admits many task-optimal solutions, often resulting in unnatural or unstable motions. This exposes a fundamental limitation of linear reward mixing in adversarial imitation learning. We propose \emph{Task-Centric Motion Priors} (TCMP), a task-priority adversarial imitation framework that treats imitation as a conditional regularizer rather than a co-equal objective. TCMP maximizes task improvement while incorporating imitation signals only when they are compatible with task progress, yielding an adaptive, geometry-aware update that preserves task-feasible descent and suppresses harmful imitation under misalignment. We provide theoretical analysis of gradient conflict and task-priority stationary points, and validate our claims through humanoid control experiments demonstrating robust task performance with consistent motion style under noisy demonstrations.