Linear Bellman combination for control of character animation

@article{Silva2009LinearBC,
  title={Linear Bellman combination for control of character animation},
  author={Marco da Silva and Fr{\'e}do Durand and Jovan Popovic},
  journal={ACM Trans. Graph.},
  year={2009},
  volume={28},
  pages={82:1-82:10}
}
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