Abstract

We address several limitations of the sampling-based motion control method of Liu et at. [LYvdP10]. The key insight is to learn from the past control reconstruction trials through sample distribution adaptation. Coupled with a sliding window scheme for better performance and an averaging method for noise reduction, the improved algorithm can efficiently construct open-loop controls for long and challenging reference motions in good quality. Our ideas are intuitive and the implementations are simple. We compare the improved algorithm with the original algorithm both qualitatively and quantitatively, and demonstrate the effectiveness of the improved algorithm with a variety of motions ranging from stylized walking and dancing to gymnastic and Martial Arts routines

Video

Video 59.8MB

Paper

Libin Liu, KangKang Yin, and Baining Guo. 2010 Improving Sampling-based Motion Control . Computer Graphics Forum 34(2) (Eurographics 2015). (to appear) [PDF 5.9MB]

Bibtex

@article{Liu2015Samcon2,
author = {Liu, Libin and Yin, KangKang and Guo, Baining},
title = {Improving Sampling-based Motion Control},
journal = {Computer Graphics Forum},
volume = {34},
number = {2},
year = {2015},
}