Presentation
DOC: Differentiable Optimal Control for Retargeting Motions Onto Legged Robots
SessionCharacter Animation
DescriptionWe present a Differentiable Optimal Control (DOC) framework that facilitates the computation of analytical derivatives of optimal control and state trajectories with respect to user-defined parameters. We demonstrate the utility of DOC by retargeting mocap and animation data onto a family of legged robots of varying proportions and mass distribution.
Event Type
Technical Paper
TimeWednesday, 9 August 202311:18am - 11:29am PDT
LocationPetree Hall C
Research & Education
Livestreamed
Animation/Simulation
Artificial Intelligence/Machine Learning
FC
FCS
V
VS
EFC