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Linear Bellman combination for control of character animation

Authors:

Marco da Silva,

Jovan PopovićAuthors Info & Claims

SIGGRAPH '09: ACM SIGGRAPH 2009 papers

Article No.: 82, Pages 1 - 10

https://doi.org/10.1145/1576246.1531388

Published: 27 July 2009 Publication History

Abstract

Controllers are necessary for physically-based synthesis of character animation. However, creating controllers requires either manual tuning or expensive computer optimization. We introduce linear Bellman combination as a method for reusing existing controllers. Given a set of controllers for related tasks, this combination creates a controller that performs a new task. It naturally weights the contribution of each component controller by its relevance to the current state and goal of the system. We demonstrate that linear Bellman combination outperforms naive combination often succeeding where naive combination fails. Furthermore, this combination is provably optimal for a new task if the component controllers are also optimal for related tasks. We demonstrate the applicability of linear Bellman combination to interactive character control of stepping motions and acrobatic maneuvers.

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Cited By

Cao JGao JZuo WLiu JXin XJin M(2023)The Tumbling Motion Planning of Humanoid Robot with Rolling-Stone Dynamics Model2022 IEEE International Conference on Cyborg and Bionic Systems (CBS)10.1109/CBS55922.2023.10115304(222-227)Online publication date: 24-Mar-2023
https://doi.org/10.1109/CBS55922.2023.10115304
Kulic DVenture GYamane KDemircan EMizuuchi IMombaur K(2016)Anthropomorphic Movement Analysis and Synthesis: A Survey of Methods and ApplicationsIEEE Transactions on Robotics10.1109/TRO.2016.258774432:4(776-795)Online publication date: Aug-2016
https://doi.org/10.1109/TRO.2016.2587744
Hämäläinen PEriksson STanskanen EKyrki VLehtinen J(2014)Online motion synthesis using sequential Monte CarloACM Transactions on Graphics10.1145/2601097.260121833:4(1-12)Online publication date: 27-Jul-2014
https://dl.acm.org/doi/10.1145/2601097.2601218
Show More Cited By

Index Terms

Linear Bellman combination for control of character animation
1. Computing methodologies
  1. Artificial intelligence
    1. Computer vision
      1. Image and video acquisition
        3D imaging
    2. Control methods
      1. Computational control theory
  2. Computer graphics
    1. Animation

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Published In

cover image ACM Conferences

SIGGRAPH '09: ACM SIGGRAPH 2009 papers

July 2009

795 pages

ISBN:9781605587264

DOI:10.1145/1576246

Conference Chair:
Thomas Funkhouser,
Editor:
Hugues Hoppe
ACM Transactions on Graphics

Copyright © 2009 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Published: 27 July 2009

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SIGGRAPH09: Special Interest Group on Computer Graphics and Interactive Techniques Conference

August 3 - 7, 2009

Louisiana, New Orleans

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SIGGRAPH '09 Paper Acceptance Rate 78 of 439 submissions, 18%;

Overall Acceptance Rate 1,822 of 8,601 submissions, 21%

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Cited By

Cao JGao JZuo WLiu JXin XJin M(2023)The Tumbling Motion Planning of Humanoid Robot with Rolling-Stone Dynamics Model2022 IEEE International Conference on Cyborg and Bionic Systems (CBS)10.1109/CBS55922.2023.10115304(222-227)Online publication date: 24-Mar-2023
https://doi.org/10.1109/CBS55922.2023.10115304
Kulic DVenture GYamane KDemircan EMizuuchi IMombaur K(2016)Anthropomorphic Movement Analysis and Synthesis: A Survey of Methods and ApplicationsIEEE Transactions on Robotics10.1109/TRO.2016.258774432:4(776-795)Online publication date: Aug-2016
https://doi.org/10.1109/TRO.2016.2587744
Hämäläinen PEriksson STanskanen EKyrki VLehtinen J(2014)Online motion synthesis using sequential Monte CarloACM Transactions on Graphics10.1145/2601097.260121833:4(1-12)Online publication date: 27-Jul-2014
https://dl.acm.org/doi/10.1145/2601097.2601218
Bonneel Nvan de Panne MParis SHeidrich W(2011)Displacement interpolation using Lagrangian mass transportACM Transactions on Graphics (TOG)10.1145/2070781.202419230:6(1-12)Online publication date: 12-Dec-2011
https://dl.acm.org/doi/10.1145/2070781.2024192
Bonneel Nvan de Panne MParis SHeidrich W(2011)Displacement interpolation using Lagrangian mass transportProceedings of the 2011 SIGGRAPH Asia Conference10.1145/2024156.2024192(1-12)Online publication date: 12-Dec-2011
https://dl.acm.org/doi/10.1145/2024156.2024192
Coros SBeaudoin Pvan de Panne MInakage M(2009)Robust task-based control policies for physics-based charactersACM SIGGRAPH Asia 2009 papers10.1145/1661412.1618516(1-9)Online publication date: 17-Dec-2009
https://dl.acm.org/doi/10.1145/1661412.1618516
Coros SBeaudoin Pvan de Panne M(2009)Robust task-based control policies for physics-based charactersACM Transactions on Graphics10.1145/1618452.161851628:5(1-9)Online publication date: 1-Dec-2009
https://dl.acm.org/doi/10.1145/1618452.1618516

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