{"id":"https://openalex.org/W7151772299","doi":"https://doi.org/10.48550/arxiv.2604.05394","title":"Neural Assistive Impulses: Synthesizing Exaggerated Motions for Physics-based Characters","display_name":"Neural Assistive Impulses: Synthesizing Exaggerated Motions for Physics-based Characters","publication_year":2026,"publication_date":"2026-04-07","ids":{"openalex":"https://openalex.org/W7151772299","doi":"https://doi.org/10.48550/arxiv.2604.05394"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.05394","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.05394","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.05394","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5106699217","display_name":"Zhiquan Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zhiquan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5061742294","display_name":"Bed\u0159ich Bene\u0161","orcid":"https://orcid.org/0000-0002-5293-2112"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Benes, Bedrich","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.5921000242233276,"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":0.5921000242233276,"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/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.10580000281333923,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.065700002014637,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/impulse","display_name":"Impulse (physics)","score":0.5203999876976013},{"id":"https://openalex.org/keywords/animation","display_name":"Animation","score":0.5024999976158142},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49619999527931213},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.4627000093460083},{"id":"https://openalex.org/keywords/multistability","display_name":"Multistability","score":0.4465000033378601},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4408999979496002},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.426800012588501},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.426800012588501},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4115999937057495},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.3984000086784363}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6355999708175659},{"id":"https://openalex.org/C70836080","wikidata":"https://www.wikidata.org/wiki/Q837940","display_name":"Impulse (physics)","level":2,"score":0.5203999876976013},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.5024999976158142},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49619999527931213},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46970000863075256},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.4627000093460083},{"id":"https://openalex.org/C2776966350","wikidata":"https://www.wikidata.org/wiki/Q6935096","display_name":"Multistability","level":3,"score":0.4465000033378601},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4408999979496002},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.426800012588501},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.426800012588501},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4115999937057495},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.3984000086784363},{"id":"https://openalex.org/C38935604","wikidata":"https://www.wikidata.org/wiki/Q4330363","display_name":"Stylized fact","level":2,"score":0.38749998807907104},{"id":"https://openalex.org/C15627037","wikidata":"https://www.wikidata.org/wiki/Q541961","display_name":"Classification of discontinuities","level":2,"score":0.37619999051094055},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.36480000615119934},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.3560999929904938},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3449000120162964},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.34209999442100525},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.3377000093460083},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.3172999918460846},{"id":"https://openalex.org/C69369342","wikidata":"https://www.wikidata.org/wiki/Q1401416","display_name":"Computer animation","level":3,"score":0.31060001254081726},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.30149999260902405},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2906000018119812},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.2865999937057495},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.28130000829696655},{"id":"https://openalex.org/C90697248","wikidata":"https://www.wikidata.org/wiki/Q1062896","display_name":"Character animation","level":4,"score":0.275299996137619},{"id":"https://openalex.org/C2780861071","wikidata":"https://www.wikidata.org/wiki/Q1062934","display_name":"Character (mathematics)","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.2667999863624573},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26510000228881836},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.26260000467300415},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.26089999079704285},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.2606000006198883},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.05394","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.05394","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.05394","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.05394","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Physics-based":[0],"character":[1,58],"animation":[2,45],"has":[3],"become":[4],"a":[5,107,139,146],"fundamental":[6],"approach":[7],"for":[8,168],"synthesizing":[9],"realistic,":[10],"physically":[11],"plausible":[12],"motions.":[13],"While":[14],"current":[15],"data-driven":[16],"deep":[17],"reinforcement":[18],"learning":[19],"(DRL)":[20],"methods":[21],"can":[22],"synthesize":[23],"complex":[24],"skills,":[25],"they":[26],"struggle":[27],"to":[28,77,86,120],"reproduce":[29],"exaggerated,":[30],"stylized":[31],"motions,":[32],"such":[33,79],"as":[34,59,89],"instantaneous":[35],"dashes":[36],"or":[37],"mid-air":[38],"trajectory":[39],"changes,":[40],"which":[41,65],"are":[42],"required":[43],"in":[44,64,113],"but":[46],"violate":[47],"standard":[48],"physical":[49],"laws.":[50],"The":[51],"primary":[52],"limitation":[53],"stems":[54],"from":[55,135],"modeling":[56],"the":[57,126],"an":[60,130],"underactuated":[61],"floating-base":[62],"system,":[63],"internal":[66],"joint":[67],"torques":[68],"and":[69,138],"momentum":[70],"conservation":[71],"strictly":[72],"govern":[73],"motion.":[74],"Direct":[75],"attempts":[76],"enforce":[78],"motions":[80],"via":[81],"external":[82,111],"wrenches":[83],"often":[84],"lead":[85],"training":[87],"instability,":[88],"velocity":[90],"discontinuities":[91],"produce":[92],"sparse,":[93],"high-magnitude":[94],"force":[95,118],"spikes":[96],"that":[97,109,152,164],"prevent":[98],"policy":[99],"convergence.":[100],"We":[101,124,150],"propose":[102],"Assistive":[103],"Impulse":[104],"Neural":[105],"Control,":[106],"framework":[108],"reformulates":[110],"assistance":[112],"impulse":[114],"space":[115,119],"rather":[116],"than":[117],"ensure":[121],"numerical":[122],"stability.":[123],"decompose":[125],"assistive":[127],"signal":[128],"into":[129],"analytic":[131],"high-frequency":[132],"component":[133],"derived":[134],"Inverse":[136],"Dynamics":[137],"learned":[140],"low-frequency":[141],"residual":[142],"correction,":[143],"governed":[144],"by":[145],"hybrid":[147],"neural":[148],"policy.":[149],"demonstrate":[151],"our":[153],"method":[154],"enables":[155],"robust":[156],"tracking":[157],"of":[158],"highly":[159],"agile,":[160],"dynamically":[161],"infeasible":[162],"maneuvers":[163],"were":[165],"previously":[166],"intractable":[167],"physics-based":[169],"methods.":[170]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-09T00:00:00"}