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Hierarchical Planning and Control for Complex Motor Tasks
(ACM Siggraph, 2015)
We present a planning and control framework that enables physically simulated characters to perform various types of motor tasks. To create physically-valid motion plans, our method uses a hierarchical set of simplified ...
Learning Reduced-Order Feedback Policies for Motion Skills
(ACM Siggraph, 2015)
We introduce a method for learning low-dimensional linear feedback strategies for the control of physics-based animated characters around a given reference trajectory. This allows for learned low-dimensional state abstractions ...