The slight hesitation between steps in an otherwise revealingly human-looking demo strengthens my suspicion this is a fairly conservative maneuver automaton based strategy. It was newish when I was finishing grad school, but old now.
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Replying to @0knaomi
These don’t look weird enough to be like deep learning. Looks too human. I suspect they did motion capture on a human gymnast and are using a mix of nonlinear and linear model reference control patched together with a maneuver automaton. 90s vintage published research.
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