1. A method of using a non-transitory computer readable medium for storing instructions which when executed by a computer processor causes the computer to perform a method of simulating a character, the method comprising: optimizing recorded motion data captured from human behavior using a displacement mapping and a Proportional Derivative (PD) control; and performing controller training using the optimized motion data and controlling a motion of the character, wherein the performing of the controller training and controlling comprises: performing controller training using a collection of state-action trajectories; improving the controller by using the motion data and the displacement mapping; and controlling a transition between states of behaviors by using the controller, and wherein the performing of the controller training using the collection of state-action trajectories comprises: selecting at least one sample near a novel state when the novel state of the character is provided; and calculating a target pose by combining at least one output pose included in the at least one sample.