{"id":"https://openalex.org/W2053710578","doi":"https://doi.org/10.1145/1966394.1966402","title":"Space-time planning with parameterized locomotion controllers","display_name":"Space-time planning with parameterized locomotion controllers","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2053710578","doi":"https://doi.org/10.1145/1966394.1966402","mag":"2053710578"},"language":"en","primary_location":{"id":"doi:10.1145/1966394.1966402","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1966394.1966402","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026322200","display_name":"Sergey Levine","orcid":"https://orcid.org/0000-0001-6764-2743"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sergey Levine","raw_affiliation_strings":["Stanford University, Stanford, CA"],"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, CA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023176236","display_name":"Yong-Joon Lee","orcid":"https://orcid.org/0000-0002-4655-0302"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yongjoon Lee","raw_affiliation_strings":["University of Washington, Seattle, WA","University Of Washington (Seattle, WA)"],"affiliations":[{"raw_affiliation_string":"University of Washington, Seattle, WA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"University Of Washington (Seattle, WA)","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006181255","display_name":"Vladlen Koltun","orcid":"https://orcid.org/0000-0003-0858-0970"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vladlen Koltun","raw_affiliation_strings":["Stanford University, Stanford, CA"],"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, CA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050910253","display_name":"Zoran Popovi\u0107","orcid":"https://orcid.org/0000-0001-5989-3016"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zoran Popovi\u0107","raw_affiliation_strings":["University of Washington, Seattle, WA","University Of Washington (Seattle, WA)"],"affiliations":[{"raw_affiliation_string":"University of Washington, Seattle, WA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"University Of Washington (Seattle, WA)","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5026322200"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":10.5066,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.98089752,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"30","issue":"3","first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11574","display_name":"Artificial Intelligence in Games","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.7922875881195068},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.7826517820358276},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7341029644012451},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6778133511543274},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.649964451789856},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5284673571586609},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4544714689254761},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4434267282485962},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4236554801464081},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4124374985694885},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3925626277923584},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3360447883605957},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19334718585014343},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15579435229301453}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7922875881195068},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.7826517820358276},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7341029644012451},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6778133511543274},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.649964451789856},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5284673571586609},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4544714689254761},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4434267282485962},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4236554801464081},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4124374985694885},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3925626277923584},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3360447883605957},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19334718585014343},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15579435229301453},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/1966394.1966402","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1966394.1966402","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G7632622042","display_name":null,"funder_award_id":"CCF-0641402","funder_id":"https://openalex.org/F4320337387","funder_display_name":"Division of Computing and Communication Foundations"}],"funders":[{"id":"https://openalex.org/F4320337387","display_name":"Division of Computing and Communication Foundations","ror":"https://ror.org/01mng8331"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W14248017","https://openalex.org/W198732646","https://openalex.org/W1966966683","https://openalex.org/W1968478252","https://openalex.org/W1973400989","https://openalex.org/W1976134581","https://openalex.org/W1997525204","https://openalex.org/W2002440441","https://openalex.org/W2004094485","https://openalex.org/W2025915818","https://openalex.org/W2027247754","https://openalex.org/W2036016432","https://openalex.org/W2059486229","https://openalex.org/W2095442747","https://openalex.org/W2099593662","https://openalex.org/W2102393901","https://openalex.org/W2111112078","https://openalex.org/W2111237478","https://openalex.org/W2115136127","https://openalex.org/W2119159374","https://openalex.org/W2128927610","https://openalex.org/W2128990851","https://openalex.org/W2144481803","https://openalex.org/W2160741803","https://openalex.org/W2243558602","https://openalex.org/W2249800031","https://openalex.org/W2289741470","https://openalex.org/W2336236730","https://openalex.org/W2582998992","https://openalex.org/W2623660146","https://openalex.org/W4233266252","https://openalex.org/W4240716940","https://openalex.org/W4245286259","https://openalex.org/W4251733479","https://openalex.org/W4365799809"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W4386464271","https://openalex.org/W2015961810","https://openalex.org/W2956606787","https://openalex.org/W4324119010","https://openalex.org/W3036618925","https://openalex.org/W2153702122"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,57,62,113],"technique":[3],"for":[4,8],"efficiently":[5,111],"synthesizing":[6],"animations":[7],"characters":[9],"traversing":[10],"complex":[11],"dynamic":[12],"environments.":[13],"Our":[14],"method":[15],"uses":[16],"parameterized":[17,100],"locomotion":[18],"controllers":[19,33,51,101],"that":[20,70],"correspond":[21],"to":[22,55,67,103,117],"specific":[23],"motion":[24,37],"skills,":[25],"such":[26],"as":[27],"jumping":[28],"or":[29],"obstacle":[30],"avoidance.":[31],"The":[32],"are":[34],"created":[35],"from":[36],"capture":[38],"data":[39],"with":[40],"reinforcement":[41],"learning.":[42],"A":[43],"space-time":[44],"planner":[45,81,108],"determines":[46],"the":[47,80,107],"sequence":[48],"in":[49,76,94],"which":[50],"must":[52],"be":[53],"executed":[54],"reach":[56],"goal":[58],"location,":[59],"and":[60,78],"admits":[61],"variety":[63],"of":[64],"cost":[65],"functions":[66],"produce":[68],"paths":[69,84],"exhibit":[71],"different":[72],"behaviors.":[73],"By":[74,98],"planning":[75],"space":[77],"time,":[79],"can":[82,109],"discover":[83],"through":[85],"dynamically":[86],"changing":[87],"environments,":[88],"even":[89],"if":[90],"no":[91],"path":[92],"exists":[93],"any":[95],"static":[96],"snapshot.":[97],"using":[99],"able":[102],"handle":[104],"navigational":[105],"tasks,":[106],"operate":[110],"at":[112],"high":[114],"level,":[115],"leading":[116],"interactive":[118],"replanning":[119],"rates.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}