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We present a new approach to realtime character animation with interactive control. Given a corpus of motion capture data and a desired task, we automatically compute near-optimal controllers using a low-dimensional basis representation. We show that these controllers produce motion that fluidly responds to several dimensions of user control and(More)
Memory references exhibit locality and are therefore not uniformly distributed across the sets of a cache. This skew reduces the effectiveness of a cache because it results in the caching of a considerable number of less-recently-used lines which are less likely to be re-referenced before they are replaced. In this paper, we describe a technique that(More)
Dynamically simulated characters are difficult to control because they are underactuated---they have no direct control over their global position and orientation. In order to succeed, control policies must look ahead to determine stabilizing actions, but such planning is complicated by frequent ground contacts that produce a discontinuous search space. This(More)
We propose a novel representation of motion data and control that enables characters with both highly agile responses to user input and natural handling of arbitrary external disturbances. The representation organizes motion data as samples in a high dimensional generalization of a vector field we call a 'motion field'. Our runtime motion synthesis(More)
We present a technique for efficiently synthesizing animations for characters traversing complex dynamic environments. Our method uses parameterized locomotion controllers that correspond to specific motion skills, such as jumping or obstacle avoidance. The controllers are created from motion capture data with reinforcement learning. A space-time planner(More)
We propose a novel, multi-resolution method to efficiently perform large-scale cloth simulation. Our cloth simulation method is based on a triangle-based energy model constructed from a cloth mesh. We identify that solutions of the linear system of cloth simulation are smooth in certain regions of the cloth mesh and solve the linear system on those regions(More)
We propose a novel representation of motion data and control which gives characters highly agile responses to user input and allows a natural handling of arbitrary external disturbances. Our representation organizes samples of motion data into a high-dimensional generalization of a vector field which we call a motion field. Our run-time motion synthesis(More)
The incorporation of randomness is critical for the believability and effectiveness of controllers for characters in competitive games. We present a fully automatic method for generating intelligent real-time controllers for characters in such a game. Our approach uses game theory to deal with the ramifications of the characters acting simultaneously, and(More)
This is to certify that I have examined this copy of a doctoral dissertation by Yongjoon Lee and have found that it is complete and satisfactory in all respects, and that any and all revisions required by the final examining committee have been made. Date: In presenting this dissertation in partial fulfillment of the requirements for the doctoral degree at(More)