Linear Bellman combination for control of character animation
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 relate...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Association for Computing Machinery (ACM)
2014
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| Online Access: | http://hdl.handle.net/1721.1/86211 https://orcid.org/0000-0001-9919-069X |
| _version_ | 1826192426398646272 |
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| author | da Silva, Marco Durand, Fredo Popovic, Jovan |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory da Silva, Marco Durand, Fredo Popovic, Jovan |
| author_sort | da Silva, Marco |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T09:12:26Z |
| format | Article |
| id | mit-1721.1/86211 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T09:12:26Z |
| publishDate | 2014 |
| publisher | Association for Computing Machinery (ACM) |
| record_format | dspace |
| spelling | mit-1721.1/862112022-09-26T11:02:37Z Linear Bellman combination for control of character animation da Silva, Marco Durand, Fredo Popovic, Jovan Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science da Silva, Marco Durand, Fredo Popovic, Jovan 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. Singapore-MIT GAMBIT Game Lab National Science Foundation (U.S.) (Grant 2007043041) National Science Foundation (U.S.) (Grant CCF-0810888) Adobe Systems Pixar (Firm) 2014-04-17T19:40:22Z 2014-04-17T19:40:22Z 2009-08 Article http://purl.org/eprint/type/ConferencePaper 07300301 http://hdl.handle.net/1721.1/86211 Da Silva, Marco, Fredo Durand, and Jovan Popovic. “Linear Bellman Combination for Control of Character Animation.” ACM Transactions on Graphics 28, no. 3 (July 27, 2009): 1. https://orcid.org/0000-0001-9919-069X en_US http://dx.doi.org/10.1145/1531326.1531388 ACM Transactions on Graphics Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Association for Computing Machinery (ACM) Other univ. web domain |
| spellingShingle | da Silva, Marco Durand, Fredo Popovic, Jovan Linear Bellman combination for control of character animation |
| title | Linear Bellman combination for control of character animation |
| title_full | Linear Bellman combination for control of character animation |
| title_fullStr | Linear Bellman combination for control of character animation |
| title_full_unstemmed | Linear Bellman combination for control of character animation |
| title_short | Linear Bellman combination for control of character animation |
| title_sort | linear bellman combination for control of character animation |
| url | http://hdl.handle.net/1721.1/86211 https://orcid.org/0000-0001-9919-069X |
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