Imitation Learning from Human Motion Alone Does Not Guarantee Biomechanically Plausible Gait Kinetics
Motion imitation learning (IL) is increasingly used in robotics and human gait modeling, yet its ability to recover biomechanically consistent joint moments without explicit kinetic information remains unclear. In this study, we examined whether motion imitation alone can estimate reasonable biological joint moments. We compare motion-only IL (MOIL) against a kinetics-aware IL (KAIL) framework that incorporates ground reaction forces (GRF) and center of pressure (CoP) in imitation rewards, with an ablation study to examine the contribution of each kinetic term. Experiments were conducted using walking data from a non-disabled participant at three speeds (0.9, 1.2, and 1.5 m/s). While both...
| Authors | Xinyi Liu, Jangwhan Ahn, Edgar Lobaton et al. |
|---|---|
| Primary category | cs.RO |
| Published | 12 March 2026 |
| Last updated at source | 5 August 2026 |
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