{"id":"https://openalex.org/W2053621240","doi":"https://doi.org/10.1145/2767002","title":"Online control of simulated humanoids using particle belief propagation","display_name":"Online control of simulated humanoids using particle belief propagation","publication_year":2015,"publication_date":"2015-07-27","ids":{"openalex":"https://openalex.org/W2053621240","doi":"https://doi.org/10.1145/2767002","mag":"2053621240"},"language":"en","primary_location":{"id":"doi:10.1145/2767002","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2767002","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/A5060951467","display_name":"Perttu H\u00e4m\u00e4l\u00e4inen","orcid":"https://orcid.org/0000-0001-7764-3459"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Perttu H\u00e4m\u00e4l\u00e4inen","raw_affiliation_strings":["Aalto University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aalto University","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004965619","display_name":"Joose Rajam\u00e4ki","orcid":"https://orcid.org/0000-0002-4044-7961"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Joose Rajam\u00e4ki","raw_affiliation_strings":["Aalto University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aalto University","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112173706","display_name":"C. Karen Liu","orcid":"https://orcid.org/0009-0008-1388-9028"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2800444561","display_name":"Atlanta Technical College","ror":"https://ror.org/01s3vfp47","country_code":"US","type":"education","lineage":["https://openalex.org/I2800444561"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Karen Liu","raw_affiliation_strings":["Georgia Tech","Georgia Tech,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Tech","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Georgia Tech,","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I2800444561"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.2463,"has_fulltext":false,"cited_by_count":85,"citation_normalized_percentile":{"value":0.98428889,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"34","issue":"4","first_page":"1","last_page":"13"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.988099992275238,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/precomputation","display_name":"Precomputation","score":0.862663745880127},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7627883553504944},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5258869528770447},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.47639575600624084},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4724572002887726},{"id":"https://openalex.org/keywords/laptop","display_name":"Laptop","score":0.4293791651725769},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.41966885328292847},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3639599084854126},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32908952236175537},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.28948646783828735},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.25030869245529175},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2399405539035797},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.18388241529464722},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.18053293228149414}],"concepts":[{"id":"https://openalex.org/C159379195","wikidata":"https://www.wikidata.org/wiki/Q7239568","display_name":"Precomputation","level":3,"score":0.862663745880127},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7627883553504944},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5258869528770447},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.47639575600624084},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4724572002887726},{"id":"https://openalex.org/C2780008327","wikidata":"https://www.wikidata.org/wiki/Q3962","display_name":"Laptop","level":2,"score":0.4293791651725769},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.41966885328292847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3639599084854126},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32908952236175537},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.28948646783828735},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25030869245529175},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2399405539035797},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.18388241529464722},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.18053293228149414},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/2767002","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2767002","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W94449998","https://openalex.org/W131069610","https://openalex.org/W1686728959","https://openalex.org/W1926272372","https://openalex.org/W1964946446","https://openalex.org/W1974420726","https://openalex.org/W1978879785","https://openalex.org/W1990922788","https://openalex.org/W1996626756","https://openalex.org/W2001165022","https://openalex.org/W2010302808","https://openalex.org/W2014191197","https://openalex.org/W2018571963","https://openalex.org/W2019965290","https://openalex.org/W2033655806","https://openalex.org/W2042408133","https://openalex.org/W2047057580","https://openalex.org/W2054746277","https://openalex.org/W2066957584","https://openalex.org/W2072118986","https://openalex.org/W2075005272","https://openalex.org/W2076806230","https://openalex.org/W2079533635","https://openalex.org/W2087617385","https://openalex.org/W2088124281","https://openalex.org/W2098306053","https://openalex.org/W2107464055","https://openalex.org/W2107662876","https://openalex.org/W2119676820","https://openalex.org/W2120003827","https://openalex.org/W2140190473","https://openalex.org/W2148222637","https://openalex.org/W2152001538","https://openalex.org/W2155772159","https://openalex.org/W2160337655","https://openalex.org/W2207676109","https://openalex.org/W2293545866","https://openalex.org/W2979998065","https://openalex.org/W4205985701"],"related_works":["https://openalex.org/W126258643","https://openalex.org/W2157769033","https://openalex.org/W2096978683","https://openalex.org/W2687399516","https://openalex.org/W2543067032","https://openalex.org/W2170398238","https://openalex.org/W3029113864","https://openalex.org/W2020308516","https://openalex.org/W414359703","https://openalex.org/W4242327143"],"abstract_inverted_index":{"We":[0,39],"present":[1],"a":[2,23,65,68,80,114],"novel,":[3],"general-purpose":[4],"Model-Predictive":[5],"Control":[6,12],"(MPC)":[7],"algorithm":[8],"that":[9,96,128],"we":[10,106],"call":[11],"Particle":[13],"Belief":[14],"Propagation":[15],"(C-PBP).":[16],"C-PBP":[17],"combines":[18],"multimodal,":[19],"gradient-free":[20],"sampling":[21],"and":[22,34,48,59,70,143],"Markov":[24],"Random":[25],"Field":[26],"factorization":[27],"to":[28,112],"effectively":[29],"perform":[30],"simultaneous":[31],"path":[32],"finding":[33],"smoothing":[35],"in":[36,43,74],"high-dimensional":[37],"spaces.":[38],"demonstrate":[40],"the":[41,130,148],"method":[42],"online":[44],"synthesis":[45],"of":[46,83],"interactive":[47,91],"physically":[49],"valid":[50],"humanoid":[51],"movements,":[52],"including":[53],"balancing,":[54],"recovery":[55],"from":[56,101,108],"both":[57],"small":[58],"extreme":[60],"disturbances,":[61],"reaching,":[62],"balancing":[63],"on":[64],"ball,":[66,69],"juggling":[67],"fully":[71],"steerable":[72],"locomotion":[73],"an":[75],"environment":[76],"with":[77],"obstacles.":[78],"Such":[79],"large":[81],"repertoire":[82],"movements":[84,131],"has":[85],"not":[86],"been":[87],"demonstrated":[88],"before":[89],"at":[90],"frame":[92],"rates,":[93],"especially":[94],"considering":[95],"all":[97],"our":[98],"movement":[99],"emerges":[100],"simple":[102],"cost":[103,149],"functions.":[104,150],"Furthermore,":[105],"abstain":[107],"using":[109],"any":[110],"precomputation":[111],"train":[113],"control":[115],"policy":[116],"offline,":[117],"reference":[118],"data":[119],"such":[120],"as":[121],"motion":[122],"capture":[123],"clips,":[124],"or":[125],"state":[126],"machines":[127],"break":[129],"down":[132],"into":[133],"more":[134],"manageable":[135],"subtasks.":[136],"Operating":[137],"under":[138],"these":[139],"conditions":[140],"enables":[141],"rapid":[142],"convenient":[144],"iteration":[145],"when":[146],"designing":[147]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":17},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
