PlaMo: Plan and Move in Rich 3D Physical Environments
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866914849272889344 |
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| author | Hallak, Assaf Dalal, Gal Tessler, Chen Guo, Kelly Mannor, Shie Chechik, Gal |
| author_facet | Hallak, Assaf Dalal, Gal Tessler, Chen Guo, Kelly Mannor, Shie Chechik, Gal |
| contents | Controlling humanoids in complex physically simulated worlds is a long-standing challenge with numerous applications in gaming, simulation, and visual content creation. In our setup, given a rich and complex 3D scene, the user provides a list of instructions composed of target locations and locomotion types. To solve this task we present PlaMo, a scene-aware path planner and a robust physics-based controller. The path planner produces a sequence of motion paths, considering the various limitations the scene imposes on the motion, such as location, height, and speed. Complementing the planner, our control policy generates rich and realistic physical motion adhering to the plan. We demonstrate how the combination of both modules enables traversing complex landscapes in diverse forms while responding to real-time changes in the environment. Video: https://youtu.be/wWlqSQlRZ9M . |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_18237 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | PlaMo: Plan and Move in Rich 3D Physical Environments Hallak, Assaf Dalal, Gal Tessler, Chen Guo, Kelly Mannor, Shie Chechik, Gal Artificial Intelligence Graphics Robotics Controlling humanoids in complex physically simulated worlds is a long-standing challenge with numerous applications in gaming, simulation, and visual content creation. In our setup, given a rich and complex 3D scene, the user provides a list of instructions composed of target locations and locomotion types. To solve this task we present PlaMo, a scene-aware path planner and a robust physics-based controller. The path planner produces a sequence of motion paths, considering the various limitations the scene imposes on the motion, such as location, height, and speed. Complementing the planner, our control policy generates rich and realistic physical motion adhering to the plan. We demonstrate how the combination of both modules enables traversing complex landscapes in diverse forms while responding to real-time changes in the environment. Video: https://youtu.be/wWlqSQlRZ9M . |
| title | PlaMo: Plan and Move in Rich 3D Physical Environments |
| topic | Artificial Intelligence Graphics Robotics |
| url | https://arxiv.org/abs/2406.18237 |