{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T14:19:38Z","timestamp":1766067578418,"version":"3.41.0"},"publisher-location":"New York, NY, USA","reference-count":56,"publisher":"ACM","license":[{"start":{"date-parts":[[2022,8,7]],"date-time":"2022-08-07T00:00:00Z","timestamp":1659830400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,8,7]]},"DOI":"10.1145\/3528233.3530697","type":"proceedings-article","created":{"date-parts":[[2022,7,20]],"date-time":"2022-07-20T13:56:43Z","timestamp":1658325403000},"page":"1-10","source":"Crossref","is-referenced-by-count":16,"title":["Learning to Get Up"],"prefix":"10.1145","author":[{"given":"Tianxin","family":"Tao","sequence":"first","affiliation":[{"name":"University of British Columbia, Canada"}]},{"given":"Matthew","family":"Wilson","sequence":"additional","affiliation":[{"name":"University of British Columbia, Canada"}]},{"given":"Ruiyu","family":"Gou","sequence":"additional","affiliation":[{"name":"University of British Columbia, Canada"}]},{"given":"Michiel","family":"van de Panne","sequence":"additional","affiliation":[{"name":"University of British Columbia, Canada"}]}],"member":"320","published-online":{"date-parts":[[2022,8,7]]},"reference":[{"key":"e_1_3_2_1_2_1","first-page":"1","article-title":"On learning symmetric locomotion","author":"Abdolhosseini Farzad","year":"2019","unstructured":"Farzad Abdolhosseini , Hung\u00a0Yu Ling , Zhaoming Xie , Xue\u00a0Bin Peng , and Michiel van\u00a0de Panne . 2019 . On learning symmetric locomotion . In Motion, Interaction and Games. 1 \u2013 10 . Farzad Abdolhosseini, Hung\u00a0Yu Ling, Zhaoming Xie, Xue\u00a0Bin Peng, and Michiel van\u00a0de Panne. 2019. On learning symmetric locomotion. In Motion, Interaction and Games. 1\u201310.","journal-title":"Motion, Interaction and Games."},{"key":"e_1_3_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0031-9406(05)60962-5"},{"key":"e_1_3_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1145\/3355089.3356536"},{"key":"e_1_3_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1145\/3072959.3009907"},{"key":"e_1_3_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1145\/3274247.3274506"},{"key":"e_1_3_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2972852"},{"key":"e_1_3_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1145\/1778765.1781156"},{"key":"e_1_3_2_1_9_1","unstructured":"Zipeng Fu Ashish Kumar Jitendra Malik and Deepak Pathak. 2021. Minimizing energy consumption leads to the emergence of gaits in legged robots. arXiv preprint arXiv:2111.01674(2021).  Zipeng Fu Ashish Kumar Jitendra Malik and Deepak Pathak. 2021. Minimizing energy consumption leads to the emergence of gaits in legged robots. arXiv preprint arXiv:2111.01674(2021)."},{"volume-title":"Computer graphics forum, Vol.\u00a031","author":"Geijtenbeek Thomas","key":"e_1_3_2_1_10_1","unstructured":"Thomas Geijtenbeek and Nicolas Pronost . 2012. Interactive character animation using simulated physics: A state-of-the-art review . In Computer graphics forum, Vol.\u00a031 . Wiley Online Library , 2492\u20132515. Thomas Geijtenbeek and Nicolas Pronost. 2012. Interactive character animation using simulated physics: A state-of-the-art review. In Computer graphics forum, Vol.\u00a031. Wiley Online Library, 2492\u20132515."},{"key":"e_1_3_2_1_12_1","volume-title":"International conference on machine learning. PMLR","author":"Haarnoja Tuomas","year":"2018","unstructured":"Tuomas Haarnoja , Aurick Zhou , Pieter Abbeel , and Sergey Levine . 2018 . Soft actor-critic: Off-policy maximum entropy deep reinforcement learning with a stochastic actor . In International conference on machine learning. PMLR , 1861\u20131870. Tuomas Haarnoja, Aurick Zhou, Pieter Abbeel, and Sergey Levine. 2018. Soft actor-critic: Off-policy maximum entropy deep reinforcement learning with a stochastic actor. In International conference on machine learning. PMLR, 1861\u20131870."},{"key":"e_1_3_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1145\/2601097.2601218"},{"key":"e_1_3_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1145\/2767002"},{"key":"e_1_3_2_1_15_1","doi-asserted-by":"crossref","unstructured":"F\u00e9lix\u00a0G Harvey and Christopher Pal. 2018. Recurrent transition networks for character locomotion. In SIGGRAPH Asia 2018 Technical Briefs. 1\u20134.  F\u00e9lix\u00a0G Harvey and Christopher Pal. 2018. Recurrent transition networks for character locomotion. In SIGGRAPH Asia 2018 Technical Briefs. 1\u20134.","DOI":"10.1145\/3283254.3283277"},{"key":"e_1_3_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1145\/3386569.3392480"},{"key":"e_1_3_2_1_17_1","unstructured":"Nicolas Heess Dhruva TB Srinivasan  Sriram Jay Lemmon Josh Merel Greg Wayne Yuval Tassa Tom Erez Ziyu Wang SM Eslami 2017. Emergence of locomotion behaviours in rich environments. arXiv preprint arXiv:1707.02286(2017).  Nicolas Heess Dhruva TB Srinivasan Sriram Jay Lemmon Josh Merel Greg Wayne Yuval Tassa Tom Erez Ziyu Wang SM Eslami 2017. Emergence of locomotion behaviours in rich environments. arXiv preprint arXiv:1707.02286(2017)."},{"key":"e_1_3_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/218380.218414"},{"key":"e_1_3_2_1_19_1","unstructured":"Ludovic Hoyet Lucas Mourot Fran\u00e7ois Le\u00a0Clerc Fran\u00e7ois Schnitzler and Pierre Hellier. 2021. A Survey on Deep Learning for Skeleton-Based Human Animation. In Computer Graphics Forum.  Ludovic Hoyet Lucas Mourot Fran\u00e7ois Le\u00a0Clerc Fran\u00e7ois Schnitzler and Pierre Hellier. 2021. A Survey on Deep Learning for Skeleton-Based Human Animation. In Computer Graphics Forum."},{"key":"e_1_3_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759250"},{"key":"e_1_3_2_1_21_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/3306346.3322966","article-title":"Synthesis of biologically realistic human motion using joint torque actuation","volume":"38","author":"Jiang Yifeng","year":"2019","unstructured":"Yifeng Jiang , Tom Van\u00a0Wouwe , Friedl De\u00a0Groote , and C\u00a0Karen Liu . 2019 . Synthesis of biologically realistic human motion using joint torque actuation . ACM Transactions On Graphics (TOG) 38 , 4 (2019), 1 \u2013 12 . Yifeng Jiang, Tom Van\u00a0Wouwe, Friedl De\u00a0Groote, and C\u00a0Karen Liu. 2019. Synthesis of biologically realistic human motion using joint torque actuation. ACM Transactions On Graphics (TOG) 38, 4 (2019), 1\u201312.","journal-title":"ACM Transactions On Graphics (TOG)"},{"key":"e_1_3_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363847"},{"key":"e_1_3_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1241828"},{"key":"e_1_3_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1145\/3480144"},{"key":"e_1_3_2_1_25_1","first-page":"1","article-title":"Scalable muscle-actuated human simulation and control","volume":"38","author":"Lee Seunghwan","year":"2019","unstructured":"Seunghwan Lee , Moonseok Park , Kyoungmin Lee , and Jehee Lee . 2019 . Scalable muscle-actuated human simulation and control . ACM Transactions On Graphics (TOG) 38 , 4 (2019), 1 \u2013 13 . Seunghwan Lee, Moonseok Park, Kyoungmin Lee, and Jehee Lee. 2019. Scalable muscle-actuated human simulation and control. ACM Transactions On Graphics (TOG) 38, 4 (2019), 1\u201313.","journal-title":"ACM Transactions On Graphics (TOG)"},{"key":"e_1_3_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1145\/1833349.1781155"},{"key":"e_1_3_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.1145\/2661229.2661233"},{"key":"e_1_3_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1145\/3386569.3392422"},{"key":"e_1_3_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1145\/2980179.2982424"},{"volume-title":"Computer Graphics Forum, Vol.\u00a034","author":"Liu Libin","key":"e_1_3_2_1_30_1","unstructured":"Libin Liu , KangKang Yin , and Baining Guo . 2015. Improving sampling-based motion control . In Computer Graphics Forum, Vol.\u00a034 . Wiley Online Library , 415\u2013423. Libin Liu, KangKang Yin, and Baining Guo. 2015. Improving sampling-based motion control. In Computer Graphics Forum, Vol.\u00a034. Wiley Online Library, 415\u2013423."},{"key":"e_1_3_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1145\/1833349.1778865"},{"volume-title":"Computer Graphics Forum, Vol.\u00a040","author":"Ma Li-Ke","key":"e_1_3_2_1_32_1","unstructured":"Li-Ke Ma , Zeshi Yang , Xin Tong , Baining Guo , and KangKang Yin . 2021. Learning and Exploring Motor Skills with Spacetime Bounds . In Computer Graphics Forum, Vol.\u00a040 . Wiley Online Library , 251\u2013263. Li-Ke Ma, Zeshi Yang, Xin Tong, Baining Guo, and KangKang Yin. 2021. Learning and Exploring Motor Skills with Spacetime Bounds. In Computer Graphics Forum, Vol.\u00a040. Wiley Online Library, 251\u2013263."},{"key":"e_1_3_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.497"},{"key":"e_1_3_2_1_34_1","unstructured":"Josh Merel Arun Ahuja Vu Pham Saran Tunyasuvunakool Siqi Liu Dhruva Tirumala Nicolas Heess and Greg Wayne. 2018. Hierarchical visuomotor control of humanoids. arXiv preprint arXiv:1811.09656(2018).  Josh Merel Arun Ahuja Vu Pham Saran Tunyasuvunakool Siqi Liu Dhruva Tirumala Nicolas Heess and Greg Wayne. 2018. Hierarchical visuomotor control of humanoids. arXiv preprint arXiv:1811.09656(2018)."},{"key":"e_1_3_2_1_35_1","unstructured":"Josh Merel Yuval Tassa Dhruva TB Sriram  Srinivasan Jay Lemmon Ziyu Wang Greg Wayne and Nicolas Heess. 2017. Learning human behaviors from motion capture by adversarial imitation. arXiv preprint arXiv:1707.02201(2017).  Josh Merel Yuval Tassa Dhruva TB Sriram Srinivasan Jay Lemmon Ziyu Wang Greg Wayne and Nicolas Heess. 2017. Learning human behaviors from motion capture by adversarial imitation. arXiv preprint arXiv:1707.02201(2017)."},{"key":"e_1_3_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1145\/2508363.2508365"},{"key":"e_1_3_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1998.724846"},{"key":"e_1_3_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1145\/3355089.3356501"},{"key":"e_1_3_2_1_39_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/3197517.3201311","article-title":"Deepmimic: Example-guided deep reinforcement learning of physics-based character skills","volume":"37","author":"Peng Xue\u00a0Bin","year":"2018","unstructured":"Xue\u00a0Bin Peng , Pieter Abbeel , Sergey Levine , and Michiel van\u00a0de Panne . 2018 . Deepmimic: Example-guided deep reinforcement learning of physics-based character skills . ACM Transactions on Graphics (TOG) 37 , 4 (2018), 1 \u2013 14 . Xue\u00a0Bin Peng, Pieter Abbeel, Sergey Levine, and Michiel van\u00a0de Panne. 2018. Deepmimic: Example-guided deep reinforcement learning of physics-based character skills. ACM Transactions on Graphics (TOG) 37, 4 (2018), 1\u201314.","journal-title":"ACM Transactions on Graphics (TOG)"},{"key":"e_1_3_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1145\/3099564.3099567"},{"key":"e_1_3_2_1_41_1","unstructured":"Cristina Pinneri Shambhuraj Sawant Sebastian Blaes Jan Achterhold Joerg Stueckler Michal Rolinek and Georg Martius. 2020. Sample-efficient Cross-Entropy Method for Real-time Planning. arXiv preprint arXiv:2008.06389(2020).  Cristina Pinneri Shambhuraj Sawant Sebastian Blaes Jan Achterhold Joerg Stueckler Michal Rolinek and Georg Martius. 2020. Sample-efficient Cross-Entropy Method for Real-time Planning. arXiv preprint arXiv:2008.06389(2020)."},{"key":"e_1_3_2_1_42_1","doi-asserted-by":"crossref","unstructured":"Davis Rempe Tolga Birdal Aaron Hertzmann Jimei Yang Srinath Sridhar and Leonidas\u00a0J Guibas. 2021. HuMoR: 3D Human Motion Model for Robust Pose Estimation. arXiv preprint arXiv:2105.04668(2021).  Davis Rempe Tolga Birdal Aaron Hertzmann Jimei Yang Srinath Sridhar and Leonidas\u00a0J Guibas. 2021. HuMoR: 3D Human Motion Model for Robust Pose Estimation. arXiv preprint arXiv:2105.04668(2021).","DOI":"10.1109\/ICCV48922.2021.01129"},{"key":"e_1_3_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1145\/3355089.3356505"},{"key":"e_1_3_2_1_44_1","doi-asserted-by":"publisher","DOI":"10.1145\/3386569.3392450"},{"key":"e_1_3_2_1_45_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386025"},{"key":"e_1_3_2_1_46_1","doi-asserted-by":"crossref","unstructured":"Yuval Tassa Saran Tunyasuvunakool Alistair Muldal Yotam Doron Siqi Liu Steven Bohez Josh Merel Tom Erez Timothy Lillicrap and Nicolas Heess. 2020. dm_control: Software and Tasks for Continuous Control. arxiv:2006.12983\u00a0[cs.RO]  Yuval Tassa Saran Tunyasuvunakool Alistair Muldal Yotam Doron Siqi Liu Steven Bohez Josh Merel Tom Erez Timothy Lillicrap and Nicolas Heess. 2020. dm_control: Software and Tasks for Continuous Control. arxiv:2006.12983\u00a0[cs.RO]","DOI":"10.1016\/j.simpa.2020.100022"},{"key":"e_1_3_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1145\/2601097.2601192"},{"key":"e_1_3_2_1_48_1","doi-asserted-by":"crossref","unstructured":"Jack\u00a0M Wang David\u00a0J Fleet and Aaron Hertzmann. 2009. Optimizing walking controllers. In ACM SIGGRAPH Asia 2009 papers. 1\u20138.  Jack\u00a0M Wang David\u00a0J Fleet and Aaron Hertzmann. 2009. Optimizing walking controllers. In ACM SIGGRAPH Asia 2009 papers. 1\u20138.","DOI":"10.1145\/1661412.1618514"},{"key":"e_1_3_2_1_49_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/1778765.1778810","article-title":"Optimizing walking controllers for uncertain inputs and environments","volume":"29","author":"Wang M","year":"2010","unstructured":"Jack\u00a0 M Wang , David\u00a0 J Fleet , and Aaron Hertzmann . 2010 . Optimizing walking controllers for uncertain inputs and environments . ACM Transactions on Graphics (TOG) 29 , 4 (2010), 1 \u2013 8 . Jack\u00a0M Wang, David\u00a0J Fleet, and Aaron Hertzmann. 2010. Optimizing walking controllers for uncertain inputs and environments. ACM Transactions on Graphics (TOG) 29, 4 (2010), 1\u20138.","journal-title":"ACM Transactions on Graphics (TOG)"},{"key":"e_1_3_2_1_50_1","doi-asserted-by":"publisher","DOI":"10.1145\/3386569.3392381"},{"key":"e_1_3_2_1_51_1","volume-title":"ALLSTEPS: Curriculum-driven Learning of Stepping Stone Skills. In Computer Graphics Forum, Vol.\u00a039","author":"Xie Zhaoming","year":"2020","unstructured":"Zhaoming Xie , Hung\u00a0Yu Ling , Nam\u00a0Hee Kim , and Michiel van\u00a0de Panne . 2020 . ALLSTEPS: Curriculum-driven Learning of Stepping Stone Skills. In Computer Graphics Forum, Vol.\u00a039 . Wiley Online Library , 213\u2013224. Zhaoming Xie, Hung\u00a0Yu Ling, Nam\u00a0Hee Kim, and Michiel van\u00a0de Panne. 2020. ALLSTEPS: Curriculum-driven Learning of Stepping Stone Skills. In Computer Graphics Forum, Vol.\u00a039. Wiley Online Library, 213\u2013224."},{"key":"e_1_3_2_1_52_1","doi-asserted-by":"publisher","DOI":"10.1145\/1833349.1778811"},{"key":"e_1_3_2_1_53_1","doi-asserted-by":"publisher","DOI":"10.1145\/1276377.1276509"},{"key":"e_1_3_2_1_54_1","doi-asserted-by":"publisher","DOI":"10.1145\/3450626.3459817"},{"key":"e_1_3_2_1_55_1","unstructured":"YouTube. 2013. The Stand Up Challenge: 52 Ways to Get Up. https:\/\/www.youtube.com\/watch?v=1Af1DtnTLs8  YouTube. 2013. The Stand Up Challenge: 52 Ways to Get Up. https:\/\/www.youtube.com\/watch?v=1Af1DtnTLs8"},{"key":"e_1_3_2_1_56_1","unstructured":"YouTube. 2019. No Hands Get Ups \u2014 7 Get up Variations. https:\/\/www.youtube.com\/watch?v=h376pQ6uFt4  YouTube. 2019. No Hands Get Ups \u2014 7 Get up Variations. https:\/\/www.youtube.com\/watch?v=h376pQ6uFt4"},{"key":"e_1_3_2_1_57_1","first-page":"1","article-title":"Learning symmetric and low-energy locomotion","volume":"37","author":"Yu Wenhao","year":"2018","unstructured":"Wenhao Yu , Greg Turk , and C\u00a0Karen Liu . 2018 . Learning symmetric and low-energy locomotion . ACM Transactions on Graphics (TOG) 37 , 4 (2018), 1 \u2013 12 . Wenhao Yu, Greg Turk, and C\u00a0Karen Liu. 2018. Learning symmetric and low-energy locomotion. ACM Transactions on Graphics (TOG) 37, 4 (2018), 1\u201312.","journal-title":"ACM Transactions on Graphics (TOG)"},{"key":"e_1_3_2_1_58_1","doi-asserted-by":"publisher","DOI":"10.1145\/3272127.3275090"}],"event":{"name":"SIGGRAPH '22: Special Interest Group on Computer Graphics and Interactive Techniques Conference","sponsor":["SIGGRAPH ACM Special Interest Group on Computer Graphics and Interactive Techniques"],"location":"Vancouver BC Canada","acronym":"SIGGRAPH '22"},"container-title":["Special Interest Group on Computer Graphics and Interactive Techniques Conference Proceedings"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3528233.3530697","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T19:02:49Z","timestamp":1750186969000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3528233.3530697"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,8,7]]},"references-count":56,"alternative-id":["10.1145\/3528233.3530697","10.1145\/3528233"],"URL":"https:\/\/doi.org\/10.1145\/3528233.3530697","relation":{},"subject":[],"published":{"date-parts":[[2022,8,7]]}}}