Linear Bellman combination for control of character animation
Name
Durand_Linear bellman.pdf
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3.53 MB
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Adobe PDF
Checksum (MD5)
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Author(s)
da Silva, Marco
Durand, Fredo
Popovic, Jovan
Date Issued
August 2009
Journal
ACM Transactions on Graphics
Publisher
Association for Computing Machinery (ACM)
Citation
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.
Version
Author's final manuscript
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.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1145/1531326.1531388
