Abstract: In various examples, a technique for neural motion control includes applying a plurality of masks to a plurality of goal state attributes for an articulated object to produce one or more masked goal state attributes. The technique also includes generating, via execution of a machine learning model, one or more actions based at least on the one or more masked goal state attributes. The technique further includes updating one or more parameters of the machine learning model based at least on the one or more actions and one or more reference actions for the articulated object to produce a trained machine learning model.

Abstract: In various examples, a technique for neural motion control includes determining a plurality of masks associated with one or more control modes for an articulated object. The technique also includes applying the plurality of masks to a plurality of goal state attributes for the articulated object to produce one or more masked goal state attributes. The technique further includes generating, via execution of a trained machine learning model, one or more actions based at least on the one or more masked goal state attributes and performing a task using the articulated object based at least on the one or more actions.