The Chimera is a mythological hybrid creature composed of different animal parts. The chimera's movements are highly dependent on the spatial and temporal alignments of its composing parts. In this paper, we present a novel algorithm that creates and animates chimeras by dynamically reassembling source characters and their movements. Our algorithm exploits a two-network architecture: part assembler and dynamic controller. The part assembler is a supervised learning layer that searches for the spatial alignment among body parts, assuming that the temporal alignment is provided. The dynamic controller is a reinforcement learning layer that learns robust control policy for a wide variety of potential temporal alignments. These two layers are tightly intertwined and learned simultaneously. The chimera animation generated by our algorithm is energy efficient and expressive in terms of describing weight shifting, balancing, and full-body coordination. We demonstrate the versatility of our algorithm by generating the motor skills of a large variety of chimeras from limited source characters.

We present a new algorithm that learns a parameterized family of motor skills from a single motion clip. The motor skills are represented by a deep policy network, which produces a stream of motions in physics simulation in response to user input and environment interaction by navigating continuous action space. Three novel technical components play an important role in the success of our algorithm. First, it explicitly constructs motion parameterization that maps action parameters to their corresponding motions. Simultaneous learning of motion parameterization and motor skills significantly improves the performance and visual quality of learned motor skills. Second, continuous-time reinforcement learning is adopted to explore temporal variations as well as spatial variations in motion parameterization. Lastly, we present a new automatic curriculum generation method that explores continuous action space more efficiently. We demonstrate the flexibility and versatility of our algorithm with highly dynamic motor skills that can be parameterized by task goals, body proportions, physical measurements, and environmental conditions.

The goal of this research is to create physically simulated biped characters equipped with a rich repertoire of motor skills. The user can control the characters interactively by modulating their control objectives. The characters can interact physically with each other and with the environment. We present a novel network-based algorithm that learns control policies from unorganized, minimally-labeled human motion data. The network architecture for interactive character animation incorporates an RNN-based motion generator into a DRL-based controller for physics simulation and control. The motion generator guides forward dynamics simulation by feeding a sequence of future motion frames to track. The rich future prediction facilitates policy learning from large training data sets. We will demonstrate the effectiveness of our approach with biped characters that learn a variety of dynamic motor skills from large, unorganized data and react to unexpected perturbation beyond the scope of the training data.

We present an approach that learns to act from raw motion data for interactive character animation. Our motion generator takes a continuous stream of control inputs and generates the character's motion in an online manner. The key insight is modeling rich connections between a multitude of control objectives and a large repertoire of actions. The model is trained using Recurrent Neural Network conditioned to deal with spatiotemporal constraints and structural variabilities in human motion. We also present a new data augmentation method that allows the model to be learned even from a small to moderate amount of training data. The learning process is fully automatic if it learns the motion of a single character, and requires minimal user intervention if it deals with props and interaction between multiple characters.