{"id":"https://openalex.org/W4417125830","doi":"https://doi.org/10.1145/3757377.3763934","title":"MaskedManipulator: Versatile Whole-Body Control for Loco-Manipulation","display_name":"MaskedManipulator: Versatile Whole-Body Control for Loco-Manipulation","publication_year":2025,"publication_date":"2025-12-08","ids":{"openalex":"https://openalex.org/W4417125830","doi":"https://doi.org/10.1145/3757377.3763934"},"language":null,"primary_location":{"id":"doi:10.1145/3757377.3763934","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3757377.3763934","pdf_url":null,"source":null,"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the SIGGRAPH Asia 2025 Conference Papers","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1145/3757377.3763934","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002549620","display_name":"Chen Tessler","orcid":"https://orcid.org/0000-0001-6447-9864"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chen Tessler","raw_affiliation_strings":["NVIDIA Research, Santa Clara, USA"],"affiliations":[{"raw_affiliation_string":"NVIDIA Research, Santa Clara, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101806987","display_name":"Yifeng Jiang","orcid":"https://orcid.org/0009-0005-2063-8903"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yifeng Jiang","raw_affiliation_strings":["NVIDIA, Santa Clara, USA"],"affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083125607","display_name":"Erwin Coumans","orcid":"https://orcid.org/0000-0001-6695-3400"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erwin Coumans","raw_affiliation_strings":["NVIDIA, Santa Clara, USA"],"affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032880356","display_name":"Zhengyi Luo","orcid":"https://orcid.org/0000-0001-6173-9042"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhengyi Luo","raw_affiliation_strings":["NVIDIA Research, Santa Clara, USA"],"affiliations":[{"raw_affiliation_string":"NVIDIA Research, Santa Clara, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015133041","display_name":"Xue Bin Peng","orcid":"https://orcid.org/0000-0002-3677-5655"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xue Bin Peng","raw_affiliation_strings":["NVIDIA, Vancouver, Canada"],"affiliations":[{"raw_affiliation_string":"NVIDIA, Vancouver, Canada","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045719865","display_name":"Gal Chechik","orcid":"https://orcid.org/0000-0001-9164-5303"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gal Chechik","raw_affiliation_strings":["NVIDIA Research, Tel Aviv, Israel"],"affiliations":[{"raw_affiliation_string":"NVIDIA Research, Tel Aviv, Israel","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5002549620"],"corresponding_institution_ids":["https://openalex.org/I4210127875"],"apc_list":null,"apc_paid":null,"fwci":1.3682,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.86678033,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"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":0.9596999883651733,"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":0.9596999883651733,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.01209999993443489,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.004600000102072954,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/trajectory","display_name":"Trajectory","score":0.6521999835968018},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6444000005722046},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6098999977111816},{"id":"https://openalex.org/keywords/animation","display_name":"Animation","score":0.593500018119812},{"id":"https://openalex.org/keywords/scope","display_name":"Scope (computer science)","score":0.59170001745224},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5392000079154968},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.491100013256073},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48669999837875366},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4374000132083893}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7681000232696533},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6521999835968018},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6444000005722046},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6098999977111816},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.593500018119812},{"id":"https://openalex.org/C2778012447","wikidata":"https://www.wikidata.org/wiki/Q1034415","display_name":"Scope (computer science)","level":2,"score":0.59170001745224},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5392000079154968},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5364999771118164},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.491100013256073},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48669999837875366},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.48240000009536743},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4374000132083893},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4327999949455261},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.42489999532699585},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.40450000762939453},{"id":"https://openalex.org/C90697248","wikidata":"https://www.wikidata.org/wiki/Q1062896","display_name":"Character animation","level":4,"score":0.40130001306533813},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37459999322891235},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3700000047683716},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36629998683929443},{"id":"https://openalex.org/C69369342","wikidata":"https://www.wikidata.org/wiki/Q1401416","display_name":"Computer animation","level":3,"score":0.34869998693466187},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.3192000091075897},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.31619998812675476},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.31299999356269836},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.29589998722076416},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2937000095844269},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.2802000045776367},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2639999985694885},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.2630999982357025},{"id":"https://openalex.org/C155386361","wikidata":"https://www.wikidata.org/wiki/Q1649571","display_name":"Process control","level":3,"score":0.26269999146461487},{"id":"https://openalex.org/C95020103","wikidata":"https://www.wikidata.org/wiki/Q1813492","display_name":"Match moving","level":3,"score":0.25929999351501465}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3757377.3763934","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3757377.3763934","pdf_url":null,"source":null,"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the SIGGRAPH Asia 2025 Conference Papers","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3757377.3763934","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3757377.3763934","pdf_url":null,"source":null,"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the SIGGRAPH Asia 2025 Conference Papers","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2796290181","https://openalex.org/W2949924544","https://openalex.org/W2984579799","https://openalex.org/W3048710353","https://openalex.org/W3081268564","https://openalex.org/W4214679856","https://openalex.org/W4229044820","https://openalex.org/W4367016688","https://openalex.org/W4385403811","https://openalex.org/W4390874171","https://openalex.org/W4392489851","https://openalex.org/W4404526366","https://openalex.org/W4413145303","https://openalex.org/W4415799055"],"related_works":[],"abstract_inverted_index":{"We":[0],"tackle":[1],"the":[2,73,98],"challenges":[3],"of":[4,100],"synthesizing":[5],"versatile,":[6],"physically":[7],"simulated":[8],"human":[9,64],"motions":[10],"for":[11],"full-body":[12],"object":[13,41,89],"manipulation.":[14],"Unlike":[15],"prior":[16],"methods":[17],"that":[18,96],"are":[19],"focused":[20],"on":[21,62],"detailed":[22],"motion":[23,65],"tracking,":[24],"trajectory":[25],"following,":[26],"or":[27,43],"teleoperation,":[28],"our":[29],"framework":[30],"enables":[31],"users":[32],"to":[33,75],"specify":[34],"versatile":[35],"high-level":[36],"objectives":[37],"such":[38],"as":[39],"target":[40],"poses":[42],"body":[44],"poses.":[45],"To":[46],"achieve":[47],"this,":[48],"we":[49],"introduce":[50],"MaskedManipulator,":[51],"a":[52,58],"generative":[53],"control":[54,84],"policy":[55],"distilled":[56],"from":[57],"tracking":[59],"controller":[60],"trained":[61],"large-scale":[63],"capture":[66],"data.":[67],"This":[68],"two-stage":[69],"learning":[70],"process":[71],"allows":[72],"system":[74],"perform":[76],"complex":[77],"interaction":[78],"behaviors,":[79],"while":[80],"providing":[81],"intuitive":[82],"user":[83],"over":[85],"both":[86],"character":[87],"and":[88],"motions.":[90],"MaskedManipulator":[91],"produces":[92],"goal-directed":[93],"manipulation":[94],"behaviors":[95],"expand":[97],"scope":[99],"interactive":[101],"animation":[102],"systems":[103],"beyond":[104],"task-specific":[105],"solutions.":[106]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-12-08T00:00:00"}