Learning to schedule control fragments for physics-based characters using deep q-learning
Given a robust control system, physical simulation offers the potential for interactive human
characters that move in realistic and responsive ways. In this article, we describe how to …
characters that move in realistic and responsive ways. In this article, we describe how to …
Guided learning of control graphs for physics-based characters
The difficulty of developing control strategies has been a primary bottleneck in the adoption
of physics-based simulations of human motion. We present a method for learning robust …
of physics-based simulations of human motion. We present a method for learning robust …
Improved computation of the humanoid centroidal dynamics and application for whole-body control
PM Wensing, DE Orin - International Journal of Humanoid Robotics, 2016 - World Scientific
The control of centroidal momentum has recently emerged as an important component of
whole-body humanoid control, resulting in emergent upper-body motions and increased …
whole-body humanoid control, resulting in emergent upper-body motions and increased …
Online control of simulated humanoids using particle belief propagation
We present a novel, general-purpose Model-Predictive Control (MPC) algorithm that we call
Control Particle Belief Propagation (C-PBP). C-PBP combines multimodal, gradient-free …
Control Particle Belief Propagation (C-PBP). C-PBP combines multimodal, gradient-free …
Online centroidal angular momentum reference generation and motion optimization for humanoid push recovery
This letter presents a new push recovery algorithm for humanoid robots in balancing
scenarios by exploiting the system's rotational dynamics. The proposed framework actively …
scenarios by exploiting the system's rotational dynamics. The proposed framework actively …
Momentum-mapped inverted pendulum models for controlling dynamic human motions
T Kwon, JK Hodgins - ACM Transactions on Graphics (TOG), 2017 - dl.acm.org
Designing a unified framework for simulating a broad variety of human behaviors has
proven to be challenging. In this article, we present an approach for control system design …
proven to be challenging. In this article, we present an approach for control system design …
Improving sampling‐based motion control
We address several limitations of the sampling‐based motion control method of Liu et
at.[LYvdP* 10]. The key insight is to learn from the past control reconstruction trials through …
at.[LYvdP* 10]. The key insight is to learn from the past control reconstruction trials through …
Multi-character physical and behavioral interactions controller
J Vaillant, K Bouyarmane… - IEEE transactions on …, 2016 - ieeexplore.ieee.org
We extend the quadratic program (QP)-based task-space character control approach-initially
intended for individual character animation-to multiple characters interacting among each …
intended for individual character animation-to multiple characters interacting among each …
Method and system for real-time animation generation using machine learning
M Buttner - US Patent 10,717,004, 2020 - Google Patents
A method of generating an image frame for depicting a posing of a character in a game is
disclosed. A dominant atom from a set of active atoms associated with the character is …
disclosed. A dominant atom from a set of active atoms associated with the character is …
Domain of attraction expansion for physics-based character control
Determining effective control strategies and solutions for high-degree-of-freedom humanoid
characters has been a difficult, ongoing problem. A controller is only valid for a subset of the …
characters has been a difficult, ongoing problem. A controller is only valid for a subset of the …