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Learning and Exploring Motor Skills with Spacetime Bounds
(The Eurographics Association and John Wiley & Sons Ltd., 2021)
Equipping characters with diverse motor skills is the current bottleneck of physics-based character animation. We propose a Deep Reinforcement Learning (DRL) framework that enables physics-based characters to learn and ...
Linear Time Stable PD Controllers for Physics-based Character Animation
(The Eurographics Association and John Wiley & Sons Ltd., 2020)
In physics-based character animation, Proportional-Derivative (PD) controllers are commonly used for tracking reference motions in motor control tasks. Stable PD (SPD) controllers significantly improve the numerical stability ...