This paper proposes the transition-net, a robust transition strategy that expands the versatility of robot locomotion in the real-world setting. To this end, we start by distributing the complexity of different gaits into dedicated locomotion policies applicable to real-world robots. Next, we expand the versatility of the robot by unifying the policies with robust transitions into a single coherent meta-controller by examining the latent state representations. Our approach enables the robot to iteratively expand its skill repertoire and robustly transition between any policy pair in a library. In our framework, adding new skills does not introduce any process that alters the previously learned skills. Moreover, training of a locomotion policy takes less than an hour with a single consumer GPU. Our approach is effective in the real-world and achieves a 19% higher average success rate for the most challenging transition pairs in our experiments compared to existing approaches.

Modifying facial attributes without the paired dataset proves to be a challenging task. Previously, approaches either required supervision from a ground-truth transformed image or required training a separate model for mapping every pair of attributes. These limit the scalability of the models to accommodate a larger set of attributes since the number of models that we need to train grows exponentially large. Another major drawback of the previous approaches is the unintentional gain of the identity of the person as they transform the facial attributes. We propose a method that allows for controllable and identity-aware transformations across multiple facial attributes using only a single model. Our approach is to train a generative adversarial network (GAN) with a multitask conditional discriminator that recognizes the identity of the face, distinguishes real images from fake, as well as identifies facial attributes present in an image. This guides the generator into producing an output that is realistic while preserving the person's identity and facial attributes. Through this framework, our model also learns meaningful image representations in a lower dimensional latent space and semantically associate separate parts of the encoded vector with both the person's identity and facial attributes. This opens up the possibility of generating new faces and other transformations such as making the face thinner or chubbier. Furthermore, our model only encodes the image once and allows for multiple transformations using the encoded vector. This allows for faster transformations since it does not need to reprocess the entire image for every transformation. We show the effectiveness of our proposed method through both qualitative and quantitative evaluations, such as ablative studies, visual inspection, and face verification. Competitive results are achieved compared to the main competition (CycleGAN), however, at great space and extensibility gain by using a single model.

Motion synthesis in a dynamic environment has been a long-standing problem for character animation. Methods using motion capture data tend to scale poorly in complex environments because of their larger capturing and labeling requirement. Physics-based controllers are effective in this regard, albeit less controllable. In this paper, we present CARL, a quadruped agent that can be controlled with high-level directives and react naturally to dynamic environments. Starting with an agent that can imitate individual animation clips, we use Generative Adversarial Networks to adapt high-level controls, such as speed and heading, to action distributions that correspond to the original animations. Further fine-tuning through the deep reinforcement learning enables the agent to recover from unseen external perturbations while producing smooth transitions. It then becomes straightforward to create autonomous agents in dynamic environments by adding navigation modules over the entire process. We evaluate our approach by measuring the agent's ability to follow user control and provide a visual analysis of the generated motion to show its effectiveness.