Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Limit cycle control and its application to the animation of balancing and walking
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Composable controllers for physics-based character animation
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Introduction to Reinforcement Learning
Introduction to Reinforcement Learning
Planning biped locomotion using motion capture data and probabilistic roadmaps
ACM Transactions on Graphics (TOG)
Precomputing avatar behavior from human motion data
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Dynamic response for motion capture animation
ACM SIGGRAPH 2005 Papers
Behavior planning for character animation
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Tree-Based Batch Mode Reinforcement Learning
The Journal of Machine Learning Research
Precomputed search trees: planning for interactive goal-driven animation
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Multiobjective control with frictional contacts
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Responsive characters from motion fragments
ACM SIGGRAPH 2007 papers
Near-optimal character animation with continuous control
ACM SIGGRAPH 2007 papers
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Simulating biped behaviors from human motion data
ACM SIGGRAPH 2007 papers
Interactive simulation of stylized human locomotion
ACM SIGGRAPH 2008 papers
Synthesis of constrained walking skills
ACM SIGGRAPH Asia 2008 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Linear Bellman combination for control of character animation
ACM SIGGRAPH 2009 papers
Real-time planning for parameterized human motion
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Achieving good connectivity in motion graphs
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Robust physics-based locomotion using low-dimensional planning
ACM SIGGRAPH 2010 papers
Terrain-adaptive bipedal locomotion control
ACM SIGGRAPH 2010 papers
Optimizing walking controllers for uncertain inputs and environments
ACM SIGGRAPH 2010 papers
ACM SIGGRAPH 2010 papers
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Motion fields for interactive character locomotion
ACM SIGGRAPH Asia 2010 papers
Automatic motion generation based on path editing from motion capture data
Transactions on edutainment IV
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Skills-in-a-box: towards abstract models of motor skills
MIG'10 Proceedings of the Third international conference on Motion in games
Angular momentum control in coordinated behaviors
MIG'10 Proceedings of the Third international conference on Motion in games
Composite control of physically simulated characters
ACM Transactions on Graphics (TOG)
Space-time planning with parameterized locomotion controllers
ACM Transactions on Graphics (TOG)
Optimizing locomotion controllers using biologically-based actuators and objectives
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Video-based 3D motion capture through biped control
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Discovery of complex behaviors through contact-invariant optimization
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Terrain runner: control, parameterization, composition, and planning for highly dynamic motions
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Falling and landing motion control for character animation
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review
Computer Graphics Forum
Simple data-driven control for simulated bipeds
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Simple data-driven control for simulated bipeds
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Flexible muscle-based locomotion for bipedal creatures
ACM Transactions on Graphics (TOG)
Technical Section: Goal directed multi-finger manipulation: Control policies and analysis
Computers and Graphics
Procedural model of horse simulation
Proceedings of the 12th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and Its Applications in Industry
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We present a method for precomputing robust task-based control policies for physically simulated characters. This allows for characters that can demonstrate skill and purpose in completing a given task, such as walking to a target location, while physically interacting with the environment in significant ways. As input, the method assumes an abstract action vocabulary consisting of balance-aware, step-based controllers. A novel constrained state exploration phase is first used to define a character dynamics model as well as a finite volume of character states over which the control policy will be defined. An optimized control policy is then computed using reinforcement learning. The final policy spans the cross-product of the character state and task state, and is more robust than the conrollers it is constructed from. We demonstrate real-time results for six locomotion-based tasks and on three highly-varied bipedal characters. We further provide a game-scenario demonstration.