{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,6]],"date-time":"2026-06-06T19:18:00Z","timestamp":1780773480521,"version":"3.54.1"},"reference-count":36,"publisher":"Association for Computing Machinery (ACM)","issue":"4","license":[{"start":{"date-parts":[[2014,7,27]],"date-time":"2014-07-27T00:00:00Z","timestamp":1406419200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Graph."],"published-print":{"date-parts":[[2014,7,27]]},"abstract":"<jats:p>We present a Model-Predictive Control (MPC) system for online synthesis of interactive and physically valid character motion. Our system enables a complex (36-DOF) 3D human character model to balance in a given pose, dodge projectiles, and improvise a get up strategy if forced to lose balance, all in a dynamic and unpredictable environment. Such contact-rich, predictive and reactive motions have previously only been generated offline or using a handcrafted state machine or a dataset of reference motions, which our system does not require.<\/jats:p>\n          <jats:p>For each animation frame, our system generates trajectories of character control parameters for the near future --- a few seconds --- using Sequential Monte Carlo sampling. Our main technical contribution is a multimodal, tree-based sampler that simultaneously explores multiple different near-term control strategies represented as parameter splines. The strategies represented by each sample are evaluated in parallel using a causal physics engine. The best strategy, as determined by an objective function measuring goal achievement, fluidity of motion, etc., is used as the control signal for the current frame, but maintaining multiple hypotheses is crucial for adapting to dynamically changing environments.<\/jats:p>","DOI":"10.1145\/2601097.2601218","type":"journal-article","created":{"date-parts":[[2014,7,22]],"date-time":"2014-07-22T15:08:20Z","timestamp":1406041700000},"page":"1-12","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":45,"title":["Online motion synthesis using sequential Monte Carlo"],"prefix":"10.1145","volume":"33","author":[{"given":"Perttu","family":"H\u00e4m\u00e4l\u00e4inen","sequence":"first","affiliation":[{"name":"Aalto University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sebastian","family":"Eriksson","sequence":"additional","affiliation":[{"name":"Aalto University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Esa","family":"Tanskanen","sequence":"additional","affiliation":[{"name":"Aalto University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ville","family":"Kyrki","sequence":"additional","affiliation":[{"name":"Aalto University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jaakko","family":"Lehtinen","sequence":"additional","affiliation":[{"name":"Aalto University and NVIDIA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2014,7,27]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2012.325"},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/78.978374"},{"key":"e_1_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1145\/133994.134083"},{"key":"e_1_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-8659.2008.01134.x"},{"key":"e_1_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.1145\/1576246.1531388"},{"key":"e_1_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jspi.2010.11.025"},{"key":"e_1_2_2_7_1","first-page":"126","article-title":"Articulated body motion capture by annealed particle filtering. In IEEE Conference on Computer Vision and Pattern Recognition, 2000","volume":"2","author":"Deutscher J.","year":"2000","journal-title":"Proceedings"},{"key":"e_1_2_2_8_1","first-page":"656","article-title":"A tutorial on particle filtering and smoothing: Fifteen years later","volume":"12","author":"Doucet A.","year":"2009","journal-title":"Handbook of Nonlinear Filtering"},{"key":"e_1_2_2_9_1","volume-title":"Proc. IEEE\/RAS International Conference on Humanoid Robots (HUMANOIDS), HUMANOIDS.","author":"Erez T."},{"key":"e_1_2_2_10_1","doi-asserted-by":"publisher","DOI":"10.1145\/882262.882286"},{"key":"e_1_2_2_11_1","unstructured":"Geijtenbeek T. Pronost N. Egges A. and Overmars M. H. 2011. Interactive character animation using simulated physics. Eurographics-State of the Art Reports 2.  Geijtenbeek T. Pronost N. Egges A. and Overmars M. H. 2011. Interactive character animation using simulated physics. Eurographics-State of the Art Reports 2 ."},{"key":"e_1_2_2_12_1","doi-asserted-by":"publisher","DOI":"10.1145\/2508363.2508399"},{"key":"e_1_2_2_13_1","doi-asserted-by":"publisher","DOI":"10.1145\/1230100.1230123"},{"key":"e_1_2_2_14_1","volume-title":"Proc. SCAI","author":"H\u00e4m\u00e4l\u00e4inen P.","year":"2006"},{"key":"e_1_2_2_15_1","first-page":"1","article-title":"Efficient multiscale sampling from products of gaussian mixtures","volume":"16","author":"Ihler A. T.","year":"2003","journal-title":"Advances in Neural Information Processing Systems"},{"key":"e_1_2_2_16_1","doi-asserted-by":"publisher","DOI":"10.1145\/1477926.1477936"},{"key":"e_1_2_2_17_1","doi-asserted-by":"publisher","DOI":"10.1145\/15922.15902"},{"key":"e_1_2_2_18_1","doi-asserted-by":"crossref","unstructured":"Kantas N. Maciejowski J. M. and Lecchini-Visintini A. 2009. Sequential monte carlo for model predictive control. In Nonlinear Model Predictive Control L. Magni D. M. Raimondo and F. Allg\u00f6wer Eds. no. 384 in Lecture Notes in Control and Information Sciences. Springer Berlin Heidelberg Jan. 263--273.  Kantas N. Maciejowski J. M. and Lecchini-Visintini A. 2009. Sequential monte carlo for model predictive control. In Nonlinear Model Predictive Control L. Magni D. M. Raimondo and F. Allg\u00f6wer Eds. no. 384 in Lecture Notes in Control and Information Sciences. Springer Berlin Heidelberg Jan. 263--273.","DOI":"10.1007\/978-3-642-01094-1_21"},{"key":"e_1_2_2_19_1","doi-asserted-by":"publisher","DOI":"10.1145\/37401.37407"},{"key":"e_1_2_2_20_1","doi-asserted-by":"publisher","DOI":"10.1145\/1778765.1778865"},{"key":"e_1_2_2_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/2185520.2185539"},{"key":"e_1_2_2_22_1","doi-asserted-by":"publisher","DOI":"10.1145\/1531326.1531387"},{"key":"e_1_2_2_23_1","volume-title":"Proc. VISAPP (1), 331--340","author":"Muja M."},{"key":"e_1_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.1145\/166117.166160"},{"key":"e_1_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-8659.2009.01591.x"},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/4235.996015"},{"key":"e_1_2_2_27_1","volume-title":"Proc. Fortieth Asilomar Conference on Signals, Systems and Computers, 2006. ACSSC '06","author":"Rudoy D."},{"key":"e_1_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.1145\/1015706.1015754"},{"key":"e_1_2_2_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/FGR.2006.69"},{"key":"e_1_2_2_30_1","doi-asserted-by":"publisher","DOI":"10.1145\/192161.192167"},{"key":"e_1_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2011.05.001"},{"key":"e_1_2_2_32_1","volume-title":"Proc. 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, IROS'12, 4906--4913","author":"Tassa Y."},{"key":"e_1_2_2_33_1","volume-title":"Proc. AAAI\/IAAI, 859--865","author":"Thrun S."},{"key":"e_1_2_2_34_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-8659.2010.01822.x"},{"key":"e_1_2_2_35_1","doi-asserted-by":"publisher","DOI":"10.1145\/1531326.1531366"},{"key":"e_1_2_2_36_1","doi-asserted-by":"publisher","DOI":"10.1145\/54852.378507"}],"container-title":["ACM Transactions on Graphics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2601097.2601218","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/2601097.2601218","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T07:19:23Z","timestamp":1750231163000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2601097.2601218"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,7,27]]},"references-count":36,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2014,7,27]]}},"alternative-id":["10.1145\/2601097.2601218"],"URL":"https:\/\/doi.org\/10.1145\/2601097.2601218","relation":{},"ISSN":["0730-0301","1557-7368"],"issn-type":[{"value":"0730-0301","type":"print"},{"value":"1557-7368","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,7,27]]},"assertion":[{"value":"2014-07-27","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}