{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,2]],"date-time":"2026-10-02T04:25:57Z","timestamp":1790915157617,"version":"4.1.0"},"publisher-location":"New York, NY, USA","reference-count":34,"publisher":"ACM","content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2025,12,15]]},"DOI":"10.1145\/3757377.3763934","type":"proceedings-article","created":{"date-parts":[[2025,12,8]],"date-time":"2025-12-08T16:27:29Z","timestamp":1765211249000},"page":"1-11","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["MaskedManipulator: Versatile Whole-Body Control for Loco-Manipulation"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6447-9864","authenticated-orcid":false,"given":"Chen","family":"Tessler","sequence":"first","affiliation":[{"name":"NVIDIA Research, Santa Clara, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-2063-8903","authenticated-orcid":false,"given":"Yifeng","family":"Jiang","sequence":"additional","affiliation":[{"name":"NVIDIA, Santa Clara, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6695-3400","authenticated-orcid":false,"given":"Erwin","family":"Coumans","sequence":"additional","affiliation":[{"name":"NVIDIA, Santa Clara, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6173-9042","authenticated-orcid":false,"given":"Zhengyi","family":"Luo","sequence":"additional","affiliation":[{"name":"NVIDIA Research, Santa Clara, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3677-5655","authenticated-orcid":false,"given":"Xue Bin","family":"Peng","sequence":"additional","affiliation":[{"name":"NVIDIA, Vancouver, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9164-5303","authenticated-orcid":false,"given":"Gal","family":"Chechik","sequence":"additional","affiliation":[{"name":"NVIDIA Research, Tel Aviv, Israel"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2025,12,14]]},"reference":[{"key":"e_1_3_3_2_2_1","unstructured":"Ilge Akkaya Marcin Andrychowicz Maciek Chociej Mateusz Litwin Bob McGrew Arthur Petron Alex Paino Matthias Plappert Glenn Powell Raphael Ribas et\u00a0al. 2019. Solving rubik\u2019s cube with a robot hand. arXiv preprint arXiv:https:\/\/arXiv.org\/abs\/1910.07113 (2019)."},{"key":"e_1_3_3_2_3_1","unstructured":"Arthur Allshire Hongsuk Choi Junyi Zhang David McAllister Anthony Zhang Chung\u00a0Min Kim Trevor Darrell Pieter Abbeel Jitendra Malik and Angjoo Kanazawa. 2025. Visual Imitation Enables Contextual Humanoid Control. arXiv preprint arXiv:https:\/\/arXiv.org\/abs\/2505.03729 (2025)."},{"key":"e_1_3_3_2_4_1","doi-asserted-by":"crossref","unstructured":"Cheng Chi Zhenjia Xu Siyuan Feng Eric Cousineau Yilun Du Benjamin Burchfiel Russ Tedrake and Shuran Song. 2023. Diffusion policy: Visuomotor policy learning via action diffusion. The International Journal of Robotics Research (2023) 02783649241273668.","DOI":"10.15607\/RSS.2023.XIX.026"},{"key":"e_1_3_3_2_5_1","unstructured":"Jonathan Ho Ajay Jain and Pieter Abbeel. 2020. Denoising diffusion probabilistic models. Advances in neural information processing systems 33 (2020) 6840\u20136851."},{"key":"e_1_3_3_2_6_1","unstructured":"Aadhithya Iyer Zhuoran Peng Yinlong Dai Irmak Guzey Siddhant Haldar Soumith Chintala and Lerrel Pinto. 2024. Open teach: A versatile teleoperation system for robotic manipulation. arXiv preprint arXiv:https:\/\/arXiv.org\/abs\/2403.07870 (2024)."},{"key":"e_1_3_3_2_7_1","unstructured":"Mazeyu Ji Xuanbin Peng Fangchen Liu Jialong Li Ge Yang Xuxin Cheng and Xiaolong Wang. 2024. Exbody2: Advanced expressive humanoid whole-body control. arXiv preprint arXiv:https:\/\/arXiv.org\/abs\/2412.13196 (2024)."},{"key":"e_1_3_3_2_8_1","volume-title":"Thinking, fast and slow","author":"Kahneman Daniel","year":"2011","unstructured":"Daniel Kahneman. 2011. Thinking, fast and slow. macmillan."},{"key":"e_1_3_3_2_9_1","unstructured":"Yi Li Yuquan Deng Jesse Zhang Joel Jang Marius Memmel Raymond Yu Caelan\u00a0Reed Garrett Fabio Ramos Dieter Fox Anqi Li et\u00a0al. 2025. Hamster: Hierarchical action models for open-world robot manipulation. arXiv preprint arXiv:https:\/\/arXiv.org\/abs\/2502.05485 (2025)."},{"key":"e_1_3_3_2_10_1","unstructured":"Zhuoling Li Liangliang Ren Jinrong Yang Yong Zhao Xiaoyang Wu Zhenhua Xu Xiang Bai and Hengshuang Zhao. 2024. VIRT: Vision Instructed Transformer for Robotic Manipulation. arXiv preprint arXiv:https:\/\/arXiv.org\/abs\/2410.07169 (2024)."},{"key":"e_1_3_3_2_11_1","doi-asserted-by":"publisher","unstructured":"Toru Lin Zhao-Heng Yin Haozhi Qi Pieter Abbeel and Jitendra Malik. 2024. Twisting Lids Off with Two Hands. CoRR abs\/2403.02338 (2024). https:\/\/doi.org\/10.48550\/arXiv.2403.02338","DOI":"10.48550\/arXiv.2403.02338"},{"key":"e_1_3_3_2_12_1","volume-title":"The Thirteenth International Conference on Learning Representations","author":"Lu Haofei","year":"2025","unstructured":"Haofei Lu, Dongqi Han, Yifei Shen, and Dongsheng Li. 2025. What Makes a Good Diffusion Planner for Decision Making?. In The Thirteenth International Conference on Learning Representations. https:\/\/openreview.net\/forum?id=7BQkXXM8Fy"},{"key":"e_1_3_3_2_13_1","unstructured":"Jianlan Luo Charles Xu Jeffrey Wu and Sergey Levine. 2024b. Precise and Dexterous Robotic Manipulation via Human-in-the-Loop Reinforcement Learning. arXiv preprint arXiv:https:\/\/arXiv.org\/abs\/2410.21845 (2024)."},{"key":"e_1_3_3_2_14_1","doi-asserted-by":"crossref","unstructured":"Zhengyi Luo Jinkun Cao Sammy Christen Alexander Winkler Kris Kitani and Weipeng Xu. 2024a. Omnigrasp: Grasping diverse objects with simulated humanoids. Advances in Neural Information Processing Systems 37 (2024) 2161\u20132184.","DOI":"10.52202\/079017-0070"},{"key":"e_1_3_3_2_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.01000"},{"key":"e_1_3_3_2_16_1","doi-asserted-by":"publisher","unstructured":"Mayank Mittal Calvin Yu Qinxi Yu Jingzhou Liu Nikita Rudin David Hoeller Jia\u00a0Lin Yuan Ritvik Singh Yunrong Guo Hammad Mazhar Ajay Mandlekar Buck Babich Gavriel State Marco Hutter and Animesh Garg. 2023. Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments. IEEE Robotics and Automation Letters 8 6 (2023) 3740\u20133747. 10.1109\/LRA.2023.3270034","DOI":"10.1109\/LRA.2023.3270034"},{"key":"e_1_3_3_2_17_1","doi-asserted-by":"crossref","unstructured":"Soohwan Park Hoseok Ryu Seyoung Lee Sunmin Lee and Jehee Lee. 2019. Learning predict-and-simulate policies from unorganized human motion data. ACM Transactions on Graphics (TOG) 38 6 (2019) 1\u201311.","DOI":"10.1145\/3355089.3356501"},{"key":"e_1_3_3_2_18_1","doi-asserted-by":"crossref","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\u201314.","DOI":"10.1145\/3197517.3201311"},{"key":"e_1_3_3_2_19_1","doi-asserted-by":"crossref","unstructured":"Xue\u00a0Bin Peng Yunrong Guo Lina Halper Sergey Levine and Sanja Fidler. 2022. Ase: Large-scale reusable adversarial skill embeddings for physically simulated characters. ACM Transactions On Graphics (TOG) 41 4 (2022) 1\u201317.","DOI":"10.1145\/3528223.3530110"},{"key":"e_1_3_3_2_20_1","unstructured":"Eduardo Pignatelli Johan Ferret Matthieu Geist Thomas Mesnard Hado van Hasselt Olivier Pietquin and Laura Toni. 2023. A survey of temporal credit assignment in deep reinforcement learning. arXiv preprint arXiv:https:\/\/arXiv.org\/abs\/2312.01072 (2023)."},{"key":"e_1_3_3_2_21_1","first-page":"4332","volume-title":"Proceedings of the IEEE\/CVF international conference on computer vision","author":"Prokudin Sergey","year":"2019","unstructured":"Sergey Prokudin, Christoph Lassner, and Javier Romero. 2019. Efficient learning on point clouds with basis point sets. In Proceedings of the IEEE\/CVF international conference on computer vision. 4332\u20134341."},{"key":"e_1_3_3_2_22_1","volume-title":"Markov decision processes: discrete stochastic dynamic programming","author":"Puterman Martin\u00a0L","year":"2014","unstructured":"Martin\u00a0L Puterman. 2014. Markov decision processes: discrete stochastic dynamic programming. John Wiley & Sons."},{"key":"e_1_3_3_2_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.01129"},{"key":"e_1_3_3_2_24_1","first-page":"627","volume-title":"Proceedings of the fourteenth international conference on artificial intelligence and statistics","author":"Ross St\u00e9phane","year":"2011","unstructured":"St\u00e9phane Ross, Geoffrey Gordon, and Drew Bagnell. 2011. A reduction of imitation learning and structured prediction to no-regret online learning. In Proceedings of the fourteenth international conference on artificial intelligence and statistics. JMLR Workshop and Conference Proceedings, 627\u2013635."},{"key":"e_1_3_3_2_25_1","unstructured":"John Schulman Filip Wolski Prafulla Dhariwal Alec Radford and Oleg Klimov. 2017. Proximal policy optimization algorithms. arXiv preprint arXiv:https:\/\/arXiv.org\/abs\/1707.06347 (2017)."},{"key":"e_1_3_3_2_26_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58548-8_34"},{"key":"e_1_3_3_2_27_1","doi-asserted-by":"crossref","unstructured":"Chen Tessler Yunrong Guo Ofir Nabati Gal Chechik and Xue\u00a0Bin Peng. 2024a. Maskedmimic: Unified physics-based character control through masked motion inpainting. ACM Transactions on Graphics (TOG) 43 6 (2024) 1\u201321.","DOI":"10.1145\/3687951"},{"key":"e_1_3_3_2_28_1","unstructured":"Chen Tessler Jordan Juravsky Yunrong Guo Yifeng Jiang Erwin Coumans and Xue\u00a0Bin Peng. 2024b. ProtoMotions: Physics-based Character Animation. https:\/\/github.com\/NVLabs\/ProtoMotions\/."},{"key":"e_1_3_3_2_29_1","unstructured":"Ashish Vaswani Noam Shazeer Niki Parmar Jakob Uszkoreit Llion Jones Aidan\u00a0N Gomez \u0141ukasz Kaiser and Illia Polosukhin. 2017. Attention is all you need. Advances in neural information processing systems 30 (2017)."},{"key":"e_1_3_3_2_30_1","doi-asserted-by":"crossref","unstructured":"Jungdam Won Deepak Gopinath and Jessica Hodgins. 2020. A scalable approach to control diverse behaviors for physically simulated characters. ACM Transactions on Graphics (TOG) 39 4 (2020) 33\u20131.","DOI":"10.1145\/3386569.3392381"},{"key":"e_1_3_3_2_31_1","unstructured":"Yan Wu Korrawe Karunratanakul Zhengyi Luo and Siyu Tang. 2025. UniPhys: Unified Planner and Controller with Diffusion for Flexible Physics-Based Character Control. arXiv preprint arXiv:https:\/\/arXiv.org\/abs\/2504.12540 (2025)."},{"key":"e_1_3_3_2_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52734.2025.01145"},{"key":"e_1_3_3_2_33_1","unstructured":"Runyi Yu Yinhuai Wang Qihan Zhao Hok\u00a0Wai Tsui Jingbo Wang Ping Tan and Qifeng Chen. 2025. SkillMimic-V2: Learning Robust and Generalizable Interaction Skills from Sparse and Noisy Demonstrations. arXiv preprint arXiv:https:\/\/arXiv.org\/abs\/2505.02094 (2025)."},{"key":"e_1_3_3_2_34_1","unstructured":"Yanjie Ze Zixuan Chen Jo\u00c3\u0122o\u00a0Pedro Ara\u00c3\u0161jo Zi-ang Cao Xue\u00a0Bin Peng Jiajun Wu and C\u00a0Karen Liu. 2025. TWIST: Teleoperated Whole-Body Imitation System. arXiv preprint arXiv:https:\/\/arXiv.org\/abs\/2505.02833 (2025)."},{"key":"e_1_3_3_2_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00589"}],"event":{"name":"SA Conference Papers '25: SIGGRAPH Asia 2025 Conference Papers","location":"Hong Kong Hong Kong","acronym":"SA Conference Papers '25","sponsor":["SIGGRAPH ACM Special Interest Group on Computer Graphics and Interactive Techniques"]},"container-title":["Proceedings of the SIGGRAPH Asia 2025 Conference Papers"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3757377.3763934","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,9]],"date-time":"2025-12-09T03:20:07Z","timestamp":1765250407000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3757377.3763934"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,12,14]]},"references-count":34,"alternative-id":["10.1145\/3757377.3763934","10.1145\/3757377"],"URL":"https:\/\/doi.org\/10.1145\/3757377.3763934","relation":{},"subject":[],"published":{"date-parts":[[2025,12,14]]},"assertion":[{"value":"2025-12-14","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}