{"id":"https://openalex.org/W2044202637","doi":"https://doi.org/10.1145/2786784.2786795","title":"Hierarchical planning and control for complex motor tasks","display_name":"Hierarchical planning and control for complex motor tasks","publication_year":2015,"publication_date":"2015-07-28","ids":{"openalex":"https://openalex.org/W2044202637","doi":"https://doi.org/10.1145/2786784.2786795","mag":"2044202637"},"language":"en","primary_location":{"id":"doi:10.1145/2786784.2786795","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2786784.2786795","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 14th ACM SIGGRAPH / Eurographics Symposium on Computer Animation","raw_type":"proceedings-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/A5077730430","display_name":"Daniel Zimmermann","orcid":"https://orcid.org/0000-0003-3311-4138"},"institutions":[{"id":"https://openalex.org/I4210137357","display_name":"Walt Disney (Switzerland)","ror":"https://ror.org/04h1x1p54","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210137357","https://openalex.org/I4210142140"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Daniel Zimmermann","raw_affiliation_strings":["Disney Research Zurich and ETH Zurich","Disney Research Zurich, and ETH Zurich"],"affiliations":[{"raw_affiliation_string":"Disney Research Zurich and ETH Zurich","institution_ids":["https://openalex.org/I4210137357","https://openalex.org/I35440088"]},{"raw_affiliation_string":"Disney Research Zurich, and ETH Zurich","institution_ids":["https://openalex.org/I4210137357","https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055713873","display_name":"Stelian Coros","orcid":"https://orcid.org/0000-0001-6604-4784"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I4210142140","display_name":"Walt Disney (United States)","ror":"https://ror.org/04eg47h42","country_code":"US","type":"company","lineage":["https://openalex.org/I4210142140"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stelian Coros","raw_affiliation_strings":["Disney Research Zurich and Carnegie Mellon University","Disney Research Zurich and Carnegie Mellon University#TAB#"],"affiliations":[{"raw_affiliation_string":"Disney Research Zurich and Carnegie Mellon University","institution_ids":["https://openalex.org/I4210142140","https://openalex.org/I74973139"]},{"raw_affiliation_string":"Disney Research Zurich and Carnegie Mellon University#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070709298","display_name":"Yuting Ye","orcid":"https://orcid.org/0000-0003-2643-7457"},"institutions":[{"id":"https://openalex.org/I4210130654","display_name":"Industrial Light & Magic (United Kingdom)","ror":"https://ror.org/03ve00c59","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210130654"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yuting Ye","raw_affiliation_strings":["Industrial Light and Magic","[Industrial Light & Magic]"],"affiliations":[{"raw_affiliation_string":"Industrial Light and Magic","institution_ids":["https://openalex.org/I4210130654"]},{"raw_affiliation_string":"[Industrial Light & Magic]","institution_ids":["https://openalex.org/I4210130654"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047437165","display_name":"Robert W. Sumner","orcid":"https://orcid.org/0000-0002-1909-8082"},"institutions":[{"id":"https://openalex.org/I4210137357","display_name":"Walt Disney (Switzerland)","ror":"https://ror.org/04h1x1p54","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210137357","https://openalex.org/I4210142140"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Robert W. Sumner","raw_affiliation_strings":["Disney Research Zurich and ETH Zurich","Disney Research Zurich, and ETH Zurich"],"affiliations":[{"raw_affiliation_string":"Disney Research Zurich and ETH Zurich","institution_ids":["https://openalex.org/I4210137357","https://openalex.org/I35440088"]},{"raw_affiliation_string":"Disney Research Zurich, and ETH Zurich","institution_ids":["https://openalex.org/I4210137357","https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033076979","display_name":"Markus Gro\u00df","orcid":"https://orcid.org/0009-0003-9324-779X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210137357","display_name":"Walt Disney (Switzerland)","ror":"https://ror.org/04h1x1p54","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210137357","https://openalex.org/I4210142140"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Markus Gross","raw_affiliation_strings":["Disney Research Zurich and ETH Zurich","Disney Research Zurich, and ETH Zurich"],"affiliations":[{"raw_affiliation_string":"Disney Research Zurich and ETH Zurich","institution_ids":["https://openalex.org/I4210137357","https://openalex.org/I35440088"]},{"raw_affiliation_string":"Disney Research Zurich, and ETH Zurich","institution_ids":["https://openalex.org/I4210137357","https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5077730430"],"corresponding_institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210137357"],"apc_list":null,"apc_paid":null,"fwci":2.3562,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.89345494,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"73","last_page":"81"},"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9947999715805054,"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/T11439","display_name":"Video Analysis and Summarization","score":0.9787999987602234,"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/computer-science","display_name":"Computer science","score":0.7448495626449585},{"id":"https://openalex.org/keywords/physics-engine","display_name":"Physics engine","score":0.7156396508216858},{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.7152994871139526},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6464179158210754},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6118776202201843},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6031737923622131},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5041543245315552},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.49738195538520813},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.4844910800457001},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.4481552541255951},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4344692826271057},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.39545220136642456},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36612439155578613},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30581557750701904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2993769645690918},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1367894411087036}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7448495626449585},{"id":"https://openalex.org/C190390380","wikidata":"https://www.wikidata.org/wiki/Q62505","display_name":"Physics engine","level":2,"score":0.7156396508216858},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.7152994871139526},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6464179158210754},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6118776202201843},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6031737923622131},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5041543245315552},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.49738195538520813},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.4844910800457001},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4481552541255951},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4344692826271057},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39545220136642456},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36612439155578613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30581557750701904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2993769645690918},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1367894411087036},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/2786784.2786795","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2786784.2786795","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 14th ACM SIGGRAPH / Eurographics Symposium on Computer Animation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W102487131","https://openalex.org/W1518579992","https://openalex.org/W1560434590","https://openalex.org/W1929008949","https://openalex.org/W1966784014","https://openalex.org/W1974420726","https://openalex.org/W1979995593","https://openalex.org/W1990932462","https://openalex.org/W2001165022","https://openalex.org/W2005347243","https://openalex.org/W2005478758","https://openalex.org/W2014191197","https://openalex.org/W2018571963","https://openalex.org/W2020340281","https://openalex.org/W2028098496","https://openalex.org/W2039630509","https://openalex.org/W2042408133","https://openalex.org/W2043878167","https://openalex.org/W2048418401","https://openalex.org/W2053777293","https://openalex.org/W2066957584","https://openalex.org/W2076024895","https://openalex.org/W2078397531","https://openalex.org/W2080514141","https://openalex.org/W2099824239","https://openalex.org/W2102883217","https://openalex.org/W2117085697","https://openalex.org/W2120894402","https://openalex.org/W2123236823","https://openalex.org/W2124398327","https://openalex.org/W2133220762","https://openalex.org/W2138136244","https://openalex.org/W2140190473","https://openalex.org/W2150254439","https://openalex.org/W2164288353","https://openalex.org/W2247191580","https://openalex.org/W2293545866","https://openalex.org/W2593993668","https://openalex.org/W2912868642","https://openalex.org/W4205985701","https://openalex.org/W4229720873","https://openalex.org/W4233647963","https://openalex.org/W4234688238","https://openalex.org/W4245854110","https://openalex.org/W6602945208"],"related_works":["https://openalex.org/W4393220254","https://openalex.org/W4321258516","https://openalex.org/W2051833850","https://openalex.org/W4287845917","https://openalex.org/W643038845","https://openalex.org/W3156164993","https://openalex.org/W2385015894","https://openalex.org/W2057225245","https://openalex.org/W2119068017","https://openalex.org/W2023469368"],"abstract_inverted_index":{"We":[0,91],"present":[1],"a":[2,27,101,105,110,122],"planning":[3],"and":[4,85],"control":[5],"framework":[6,67],"that":[7],"enables":[8],"physically":[9],"simulated":[10,120],"characters":[11],"to":[12,58],"perform":[13],"various":[14],"types":[15,73],"of":[16,30,74,82,116],"motor":[17,75],"tasks.":[18],"To":[19],"create":[20,59],"physically-valid":[21],"motion":[22,42,60,134],"plans,":[23],"our":[24],"method":[25],"uses":[26],"hierarchical":[28],"set":[29],"simplified":[31],"models.":[32],"Computational":[33],"resources":[34],"are":[35,48,56,119],"therefore":[36],"focused":[37],"where":[38,79],"they":[39],"matter":[40],"most:":[41],"plans":[43,61],"for":[44,71,94],"the":[45,80,83,117],"immediate":[46],"future":[47],"generated":[49],"using":[50,109,121],"higher-fidelity":[51],"models,":[52],"while":[53,112],"coarser":[54],"models":[55],"used":[57,70],"with":[62],"longer":[63],"time":[64],"horizons.":[65],"Our":[66],"can":[68],"be":[69,88],"different":[72],"skills,":[76],"including":[77],"ones":[78],"actions":[81],"arms":[84],"legs":[86],"must":[87],"precisely":[89],"coordinated.":[90],"demonstrate":[92],"controllers":[93],"tasks":[95],"such":[96],"as":[97],"getting":[98],"up":[99],"from":[100,126],"chair,":[102],"crawling":[103],"onto":[104],"raised":[106],"platform,":[107],"or":[108],"handrail":[111],"climbing":[113],"stairs.":[114],"All":[115],"motions":[118],"black-box":[123],"physics":[124],"engine":[125],"high":[127],"level":[128],"user":[129],"commands,":[130],"without":[131],"requiring":[132],"any":[133],"capture":[135],"data.":[136]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
