Table 2. Observation spaces in two downstream tasks: A-joystick task, B-punching task

		Index	Description
A	B	0-2	Local position between the target cuboid and the character’s root
		3-6	Local rotation between the target cuboid and the character’s root
		7-10	Local linear velocity between target linear velocity and the character’s root
		11-14	Local angle velocity between target angle velocity and the character’s root
		15-16	Local target direction between the target moving direction and the character’s root
		17-18	Local facing direction between target facing direction of the character ‘s root