Hierarchical Planning and Control for Box Loco-Manipulation

Simple item page
dc.contributor.authorXie, Zhaomingen_US
dc.contributor.authorTseng, Jonathanen_US
dc.contributor.authorStarke, Sebastianen_US
dc.contributor.authorPanne, Michiel van deen_US
dc.contributor.authorLiu, C. Karenen_US
dc.contributor.editorWang, Huaminen_US
dc.contributor.editorYe, Yutingen_US
dc.contributor.editorVictor Zordanen_US
dc.date.accessioned2023-10-16T12:32:50Z
dc.date.available2023-10-16T12:32:50Z
dc.date.issued2023
dc.description.abstractHumans perform everyday tasks using a combination of locomotion and manipulation skills. Building a system that can handle both skills is essential to creating virtual humans. We present a physically-simulated human capable of solving box rearrangement tasks, which requires a combination of both skills. We propose a hierarchical control architecture, where each level solves the task at a different level of abstraction, and the result is a physics-based simulated virtual human capable of rearranging boxes in a cluttered environment. The control architecture integrates a planner, diffusion models, and physics-based motion imitation of sparse motion clips using deep reinforcement learning. Boxes can vary in size, weight, shape, and placement height. Code and trained control policies are provided.en_US
dc.description.number3
dc.description.sectionheadersPhysics-based Character Control
dc.description.seriesinformationProceedings of the ACM on Computer Graphics and Interactive Techniques
dc.description.volume6
dc.identifier.doi10.1145/3606931
dc.identifier.issn2577-6193
dc.identifier.urihttps://doi.org/10.1145/3606931
dc.identifier.urihttps://diglib.eg.org:443/handle/10.1145/3606931
dc.publisherACM Association for Computing Machineryen_US
dc.subjectCCS Concepts: Computing methodologies -> Physical simulation; Reinforcement learning character animation, loco-manipulation"
dc.subjectComputing methodologies
dc.subjectPhysical simulation
dc.subjectReinforcement learning character animation
dc.subjectloco
dc.subjectmanipulation"
dc.titleHierarchical Planning and Control for Box Loco-Manipulationen_US
Files
Collections
SCA 2023: Eurographics/SIGGRAPH Symposium on Computer Animation