Enforcing Human-like Kinematics in Dexterous Piano Playing via Adversarial Posture Regularization
The research introduces Adversarial Posture Regularization (APR), a method to make piano playing movements look human-like by enforcing natural joint postures. It uses an adversarial network trained on casual human data to guide a reinforcement learning agent, preventing unnatural joint bends and overextensions that occur when only task rewards are used.