Presentation / Installation


DOC: Differentiable Optimal Control for Retargeting Motions Onto Legged Robots
SessionCharacter Animation
DescriptionWe present a Differentiable Optimal Control (DOC) framework that facilitates the computation of analytical derivatives of optimal control and state trajectories with respect to user-defined parameters. We demonstrate the utility of DOC by retargeting mocap and animation data onto a family of legged robots of varying proportions and mass distribution.
Authors
Ruben Grandia
Disney Research Imagineering
Farbod Farshidian
ETH Zürich
Espen Knoop
Disney Research Imagineering
Christian Schumacher
Disney Research Imagineering
Marco Hutter
ETH Zürich
Moritz Bächer
Disney Research Imagineering
Event Type
Technical Paper
TimeWednesday, 9 August 202311:18am - 11:29am PDT
LocationPetree Hall C
ACM Digital Library Technical Papers pdfs
Session Time & Location
Sunday, 6 August 20236pm - 8:30pm PDTWest Hall B
Wednesday, 9 August 202310:45am - 12:15pm PDTPetree Hall C
Interest Areas
Research & Education
Recordings
Livestreamed
Recorded
Keywords
Animation/Simulation
Artificial Intelligence/Machine Learning
Registration Categories
FC
FCS
V
VS
EFC
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