NDLI: Learning bicycle stunts

Content Provider	ACM Digital Library
Author	Liu, C. Karen Turk, Greg Gu, Yuting Tan, Jie
Copyright Year	2014
Abstract	We present a general approach for simulating and controlling a human character that is riding a bicycle. The two main components of our system are offline learning and online simulation. We simulate the bicycle and the rider as an articulated rigid body system. The rider is controlled by a policy that is optimized through offline learning. We apply policy search to learn the optimal policies, which are parameterized with splines or neural networks for different bicycle maneuvers. We use Neuroevolution of Augmenting Topology (NEAT) to optimize both the parametrization and the parameters of our policies. The learned controllers are robust enough to withstand large perturbations and allow interactive user control. The rider not only learns to steer and to balance in normal riding situations, but also learns to perform a wide variety of stunts, including wheelie, endo, bunny hop, front wheel pivot and back hop.
Starting Page	1
Ending Page	12
Page Count	12
File Format	PDF
ISSN	07300301
e-ISSN	15577368
DOI	10.1145/2601097.2601121
Volume Number	33
Issue Number	4
Journal	ACM Transactions on Graphics (TOG)
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2014-07-27
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Balance control Bicycle simulation Neural networks Reinforcement learning
Content Type	Text
Resource Type	Article
Subject	Computer Graphics and Computer-Aided Design

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Libarray of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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