Review for NeurIPS paper: Residual Force Control for Agile Human Behavior Imitation and Extended Motion Synthesis

Weaknesses: The biggest weakness of the paper is that it seems to be making claims that are not backed up by the results. For example, the paper states that "show for the first time humanoid control policies thatare capable of highly agile ballet dancing moves" and basically argues that policies of similar complexity have not been learned before. However, the DeepMimic paper showed really complex motor skills including back-flips, a pirouette-like spin, Karate moves and other motions that are at least on a similar level of complexity. Further, the paper mostly focuses on tracking the observed motions (potentially small variations thereof). But in imitation learning it is very important to show the generalization capabilities of a learned policy; otherwise a trajectory would suffice.