Reinforcement Learning

An Extensible, Data-Oriented Architecture for High-Performance, Many-World Simulation

Brennan Shacklett, Luc Guy Rosenzweig, Zhiqiang Xie, Bidipta Sarkar, Andrew Szot, Erik Wijmans, Vladlen Koltun, Dhruv Batra, Kayvon Fatahalian

Journal SIGGRAPH 2023 Animation & Simulation
Batch Simulation Entity Component System GPU Reinforcement Learning Data-Oriented Design

Bidirectional GaitNet: A Bidirectional Prediction Model of Human Gait and Anatomical Conditions

Jungnam Park, Moon Seok Park, Jehee Lee, Jungdam Won

Conference SIGGRAPH 2023 Animation & Simulation
Musculoskeletal Simulation Gait Analysis VAE Reinforcement Learning Physics-Based Animation

CALM: Conditional Adversarial Latent Models for Directable Virtual Characters

Chen Tessler, Yoni Kasten, Yunrong Guo, Shie Mannor, Gal Chechik, Xue Bin Peng

Conference SIGGRAPH 2023 Animation & Simulation
Physics-Based Character Animation Reinforcement Learning Imitation Learning Motion Representation Adversarial Learning

Composite Motion Learning with Task Control

Pei Xu, Xiumin Shang, Victor B. Zordan, Ioannis Karamouzas

Journal SIGGRAPH 2023 Animation & Simulation
Physics-Based Animation Character Control Reinforcement Learning Motion Synthesis Multi-Objective Learning GAN

Learning Physically Simulated Tennis Skills from Broadcast Videos

Haotian Zhang, Ye Yuan, Viktor Makoviychuk, Yunrong Guo, Sanja Fidler, Xue Bin Peng, Kayvon Fatahalian

Journal meta-only SIGGRAPH 2023 Animation & Simulation
Physics-Based Animation Reinforcement Learning Character Animation Motion Capture Video-Based Learning

PMP: Learning to Physically Interact with Environments using Part-wise Motion Priors

Jinseok Bae, Jungdam Won, Donggeun Lim, Cheol-Hui Min, Young Min Kim

Conference SIGGRAPH 2023 Animation & Simulation
Physics-Based Animation Motion Prior Reinforcement Learning Character Control Human-Object Interaction

QuestEnvSim: Environment-Aware Simulated Motion Tracking from Sparse Sensors

Sunmin Lee, Sebastian Starke, Yuting Ye, Jungdam Won, Alexander W. Winkler

Conference SIGGRAPH 2023 Animation & Simulation
Motion Tracking Reinforcement Learning Physics Simulation Character Animation VR

ScanBot: Autonomous Reconstruction via Deep Reinforcement Learning

Hezhi Cao, Xi Xia, Guan Wu, Ruizhen Hu, Ligang Liu

Journal meta-only SIGGRAPH 2023 Reconstruction
Autonomous Scanning 3D Reconstruction Reinforcement Learning Next-Best-View Robotics

Simulation and Retargeting of Complex Multi-Character Interactions

Yunbo Zhang, Deepak Gopinath, Yuting Ye, Jessica K. Hodgins, Greg Turk, Jungdam Won

Conference SIGGRAPH 2023 Animation & Simulation
Character Animation Physics-Based Simulation Reinforcement Learning Motion Retargeting Multi-Character Interaction

Synthesizing Physical Character-Scene Interactions

Mohamed Hassan, Yunrong Guo, Tingwu Wang, Michael J. Black, Sanja Fidler, Xue Bin Peng

Conference SIGGRAPH 2023 Animation & Simulation
Character Animation Reinforcement Learning Adversarial Imitation Learning Physics-Based Simulation Human-Scene Interaction

Interactive Character Control with Auto-Regressive Motion Diffusion Models

Yi Shi, Jingbo Wang, Xuekun Jiang, Bingkun Lin, Bo Dai, Xue Bin Peng

Journal SIGGRAPH 2024 Animation & Simulation
Motion Synthesis Diffusion Model Auto-Regressive Model Character Control Reinforcement Learning Real-Time Animation Motion Inpainting Keyframe In-Betweening

Physics-based Scene Layout Generation from Human Motion

Jianan Li, Tao Huang, Qingxu Zhu, Tien-Tsin Wong

Conference SIGGRAPH 2024 Animation & Simulation
Scene Layout Generation Physics-Based Simulation Reinforcement Learning Human-Scene Interaction Motion Tracking

Strategy and Skill Learning for Physics-based Table Tennis Animation

Jiashun Wang, Jessica K. Hodgins, Jungdam Won

Conference SIGGRAPH 2024 Animation & Simulation
Physics-Based Animation Reinforcement Learning Character Animation Multi-Character Interaction Virtual Reality

SuperPADL: Scaling Language-Directed Physics-Based Control with Progressive Supervised Distillation

Jordan Juravsky, Yunrong Guo, Sanja Fidler, Xue Bin Peng

Conference SIGGRAPH 2024 Animation & Simulation
Physics-Based Animation Reinforcement Learning Motion Synthesis Policy Distillation Character Animation

AMOR: Adaptive Character Control through Multi-Objective Reinforcement Learning

Lucas N. Alegre, Agon Serifi, Ruben Grandia, David Müller, Espen Knoop, Moritz Bächer

Conference meta-only SIGGRAPH 2025 Animation & Simulation
Character Animation Reinforcement Learning Multi-Objective Optimization Physics-Based Simulation Motion Tracking

Appearance-aware Multi-view SVBRDF Reconstruction via Deep Reinforcement Learning

Pengfei Zhu, Jie Guo, Yifan Liu, Qi Sun, Yanxiang Wang, Keheng Xu, Ligang Liu, Yanwen Guo

Conference meta-only SIGGRAPH 2025 Reconstruction
SVBRDF Multi-View Reconstruction Reinforcement Learning Inverse Rendering Material Capture

Designing Pin-pression Gripper and Learning its Dexterous Grasping with Online In-hand Adjustment

Hewen Xiao, Xiuping Liu, Hang Zhao, Jian Liu, Kai Xu

Journal SIGGRAPH 2025 Animation & Simulation
Robotic Gripper Design Dexterous Grasping Reinforcement Learning In-hand Manipulation Curriculum Learning Sim-to-Real

ForceGrip: Reference-Free Curriculum Learning for Realistic Grip Force Control in VR Hand Manipulation

DongHeun Han, Byungmin Kim, RoUn Lee, KyeongMin Kim, Hyoseok Hwang, HyeongYeop Kang

Conference SIGGRAPH 2025 HCI & XR
Virtual Reality Hand Manipulation Curriculum Learning Reinforcement Learning Physics-Based Animation

Large-Scale Multi-Character Interaction Synthesis

Ziyi Chang, He Wang, George Alex Koulieris, Hubert P. H. Shum

Conference SIGGRAPH 2025 Animation & Simulation
Motion Synthesis Multi-Character Interaction Diffusion Model Reinforcement Learning Character Animation

Learning to Assemble with Alternative Plans

Ziqi Wang, Wenjun Liu, Jingwen Wang, Gabriel Vallat, Fan Shi, Stefana Parascho, Maryam Kamgarpour

Journal SIGGRAPH 2025 Animation & Simulation
Assembly Sequence Planning Reinforcement Learning Robotic Assembly GPU-Accelerated Simulation Curriculum Learning Graph Attention Network Rigid Body Equilibrium Motion Planning

MAGNET: Muscle Activation Generation Networks for Diverse Human Movement

Jungnam Park, Euikyun Jung, Jehee Lee, Jungdam Won

Conference SIGGRAPH 2025 Animation & Simulation
Musculoskeletal Simulation Muscle Activation Reinforcement Learning Physics-Based Character Control Motion Tracking

PARC: Physics-based Augmentation with Reinforcement Learning for Character Controllers

Michael Xu, Yi Shi, KangKang Yin, Xue Bin Peng

Conference SIGGRAPH 2025 Animation & Simulation
Reinforcement Learning Motion Generation Diffusion Model Physics-Based Simulation Character Control Data Augmentation

PhysicsFC: Learning User-Controlled Skills for a Physics-Based Football Player Controller

Minsu Kim, Eunho Jung, Yoonsang Lee

Journal SIGGRAPH 2025 Animation & Simulation
Physics-Based Character Control Reinforcement Learning Motion Embedding Skill Transition Interactive Control Football Simulation

PLT: Part-Wise Latent Tokens as Adaptable Motion Priors for Physically Simulated Characters

Jinseok Bae, Younghwan Lee, Donggeun Lim, Young Min Kim

Conference meta-only SIGGRAPH 2025 Animation & Simulation
Physics-Based Character Control Motion Priors Latent Representation Reinforcement Learning Character Animation

SkillMimic-V2: Learning Robust and Generalizable Interaction Skills from Sparse and Noisy Demonstrations

Runyi Yu, Yinhuai Wang, Qihan Zhao, Hok Wai Tsui, Jingbo Wang, Ping Tan, Qifeng Chen

Conference SIGGRAPH 2025 Animation & Simulation
Reinforcement Learning Human-Object Interaction Character Animation Imitation Learning Data Augmentation

BoxCtrl: 3D-Aware Visual Prompting for Geometric Image Editing

Feifei Wang, Shiyuan Yang, Xiaoyu Li, Jing Liao

Conference SIGGRAPH 2026 Image & Video
Image Editing Diffusion Model Visual Prompting 3D-Aware Editing Reinforcement Learning LoRA

Computational Design of Terrestrial Robots with Anisotropic Friction

Hang Hu, Kangbo Lyu, Changyu Hu, Zihan Li, Peiwen Yang, Minchen Li, Shuguang Li, Tao Du

Conference SIGGRAPH 2026 Animation & Simulation
Computational Design Robot Co-Design Anisotropic Friction Reinforcement Learning Trust Region Physics-Based Simulation

EchoAvatar: Real-time Generative Avatar Animation from Audio Streams

Bohong Chen, Yumeng Li, Yinglin Xu, Youyi Zheng, Yanlin Weng, Kun Zhou

Conference SIGGRAPH 2026 Animation & Simulation
Streaming Motion Generation Audio-Driven Animation Co-Speech Gesture Music-To-Dance Motion Tokenizer Residual Vector Quantization Reinforcement Learning Real-Time Animation Large Language Model

Generative Texture Filtering

Rongjia Zheng, Shangwei Huang, Lei Zhu, Wei-Shi Zheng, Qing Zhang

Conference SIGGRAPH 2026 Image & Video
Texture Filtering Image Smoothing Diffusion Model Reinforcement Learning Generative Model

GPC: Large-Scale Generative Pretraining for Transferable Motor Control

Yi Shi, Yifeng Jiang, Chen Tessler, Xue Bin Peng

Conference SIGGRAPH 2026 Animation & Simulation
Physics-Based Character Animation Motor Control Reinforcement Learning Generative Model Transformer PEFT

Neural Quadrature Rule and Autoregressive Adaptive Sampling

Haolin Lu, Liwen Wu, Zimo Wang, Tzu-Mao Li, Ravi Ramamoorthi

Journal SIGGRAPH 2026 Rendering
Monte Carlo Integration Adaptive Sampling Transformer Reinforcement Learning Neural Rendering

ReActor: Reinforcement Learning for Physics-Aware Motion Retargeting

David Müller, Agon Serifi, Sammy Christen, Ruben Grandia, Espen Knoop, Moritz Bächer

Journal SIGGRAPH 2026 Animation & Simulation
Motion Retargeting Reinforcement Learning Bilevel Optimization Character Animation Physics-Based Simulation Humanoid Robot

SMP: Reusable Score-Matching Motion Priors for Physics-Based Character Control

Yuxuan Mu, Ziyu Zhang, Yi Shi, Dun Yang, Minami Matsumoto, Kotaro Imamura, Guy Tevet, Chuan Guo, Michael Taylor, Chang Shu, Pengcheng Xi, Xue Bin Peng

Journal SIGGRAPH 2026 Animation & Simulation
Physics-Based Character Control Reinforcement Learning Diffusion Model Score Distillation Sampling Motion Prior Character Animation

VeraRetouch: A Lightweight Fully Differentiable Framework for Multi-Task Reasoning Photo Retouching

Yihong Guo, Youwei Lyu, Jiajun Tang, Yizhuo Zhou, Hongliang Wang, Jinwei Chen, Changqing Zou, Qingnan Fan

Conference SIGGRAPH 2026 Image & Video
Photo Retouching Vision-Language Model Differentiable Rendering Reinforcement Learning Mobile Deployment

Adaptive Tracking of a Single-Rigid-Body Character in Various Environments

Taesoo Kwon, Taehong Gu, Jaewon Ahn, Yoonsang Lee

Conference SIGGRAPH Asia 2023 Animation & Simulation
Physics-Based Character Animation Reinforcement Learning Centroidal Dynamics Motion Tracking Quadratic Programming

AdaptNet: Policy Adaptation for Physics-Based Character Control

Pei Xu, Kaixiang Xie, Sheldon Andrews, Paul G. Kry, Michael Neff, Morgan McGuire, Ioannis Karamouzas, Victor B. Zordan

Journal SIGGRAPH Asia 2023 Animation & Simulation
Physics-Based Animation Reinforcement Learning Motion Style Transfer Character Control Domain Adaptation

C·ASE: Learning Conditional Adversarial Skill Embeddings for Physics-based Characters

Zhiyang Dou, Xuelin Chen, Qingnan Fan, Taku Komura, Wenping Wang

Conference SIGGRAPH Asia 2023 Animation & Simulation
Physics-based Character Animation Motion Control Conditional GAN Reinforcement Learning Skill Embedding

Discovering Fatigued Movements for Virtual Character Animation

Noshaba Cheema, Rui Xu, Nam Hee Kim, Perttu Hämäläinen, Vladislav Golyanik, Marc Habermann, Christian Theobalt, Philipp Slusallek

Conference SIGGRAPH Asia 2023 Animation & Simulation
Physics-Based Animation Reinforcement Learning Adversarial Imitation Learning Fatigue Modeling Biomechanics Character Animation

MuscleVAE: Model-Based Controllers of Muscle-Actuated Characters

Yusen Feng, Xiyan Xu, Libin Liu

Conference SIGGRAPH Asia 2023 Animation & Simulation
Muscle Simulation Physics-Based Animation Motion Control VAE Reinforcement Learning Fatigue Simulation

Neural Categorical Priors for Physics-Based Character Control

Qingxu Zhu, He Zhang, Mengting Lan, Lei Han

Journal SIGGRAPH Asia 2023 Animation & Simulation
Physics-Based Character Control Reinforcement Learning VQ-VAE Motion Prior Character Animation Multi-Agent

Neural Packing: from Visual Sensing to Reinforcement Learning

Juzhan Xu, Minglun Gong, Hao Zhang, Hui Huang, Ruizhen Hu

Journal meta-only SIGGRAPH Asia 2023 Neural & Generative
Reinforcement Learning Bin Packing Visual Sensing Robotic Manipulation Neural Network

CBIL: Collective Behavior Imitation Learning for Fish from Real Videos

Yifan Wu, Zhiyang Dou, Yuko Ishiwaka, Shun Ogawa, Yuke Lou, Wenping Wang, Lingjie Liu, Taku Komura

Journal SIGGRAPH Asia 2024 Animation & Simulation
Collective Behavior Imitation Learning Fish Schooling Simulation Reinforcement Learning Video Representation Learning

FürElise: Capturing and Physically Synthesizing Hand Motion of Piano Performance

Ruocheng Wang, Pei Xu, Haochen Shi, Elizabeth Schumann, C. Karen Liu

Conference SIGGRAPH Asia 2024 Animation & Simulation
Hand Animation Physical Simulation Reinforcement Learning Diffusion Model Motion Capture Dataset Dexterous Manipulation

High-Throughput Batch Rendering for Embodied AI

Luc Guy Rosenzweig, Brennan Shacklett, Warren Xia, Kayvon Fatahalian

Conference SIGGRAPH Asia 2024 Rendering
Batch Rendering Embodied AI Ray Tracing Rasterization GPU Reinforcement Learning

Learning Based Toolpath Planner on Diverse Graphs for 3D Printing

Yuming Huang, Yuhu Guo, Renbo Su, Xingjian Han, Junhao Ding, Tianyu Zhang, Tao Liu, Weiming Wang, Guoxin Fang, Xu Song, Emily Whiting, Charlie C. L. Wang

Journal SIGGRAPH Asia 2024 Geometry & Modeling
Toolpath Planning 3D Printing Reinforcement Learning Deep Q Network Wire Frame Continuous Fiber Metal Printing

MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpainting

Chen Tessler, Yunrong Guo, Ofir Nabati, Gal Chechik, Xue Bin Peng

Journal SIGGRAPH Asia 2024 Animation & Simulation
Physics-Based Character Control Reinforcement Learning Motion Completion Behavior Cloning Conditional VAE Multimodal Control

PDP: Physics-Based Character Animation via Diffusion Policy

Takara Everest Truong, Michael Piseno, Zhaoming Xie, C. Karen Liu

Conference SIGGRAPH Asia 2024 Animation & Simulation
Character Animation Reinforcement Learning Diffusion Model Behavior Cloning Motion Tracking

Procedural Material Generation with Reinforcement Learning

Beichen Li, Yiwei Hu, Paul Guerrero, Milos Hasan, Liang Shi, Valentin Deschaintre, Wojciech Matusik

Journal meta-only SIGGRAPH Asia 2024 Neural & Generative
Procedural Material Reinforcement Learning Transformer Material Graph Generative Model

Robot Motion Diffusion Model: Motion Generation for Robotic Characters

Agon Serifi, Ruben Grandia, Espen Knoop, Markus Gross, Moritz Bächer

Conference SIGGRAPH Asia 2024 Animation & Simulation
Motion Generation Diffusion Model Physics-Based Control Reinforcement Learning Humanoid Robot

Synchronize Dual Hands for Physics-Based Dexterous Guitar Playing

Pei Xu, Ruocheng Wang

Conference SIGGRAPH Asia 2024 Animation & Simulation
Physical Simulation Dexterous Hand Control Reinforcement Learning Multi Agent Collaboration Character Animation Motion Synthesis

CFC: Simulating Character-Fluid Coupling using a Two-Level World Model

Zhiyang Dou, Chen Peng, Xinyu Lu, Xiaohan Ye, Lixing Fang, Yuan Liu, Wenping Wang, Chuang Gan, Lingjie Liu, Taku Komura

Journal meta-only SIGGRAPH Asia 2025 Animation & Simulation
Character Animation Fluid Coupling World Model Reinforcement Learning Physics Based Simulation

FreeMusco: Motion-Free Learning of Latent Control for Morphology-Adaptive Locomotion in Musculoskeletal Characters

Minkwan Kim, Yoonsang Lee

Conference SIGGRAPH Asia 2025 Animation & Simulation
Motion-Free Learning Musculoskeletal Simulation Reinforcement Learning Character Animation Locomotion Control Latent Space

Learning to Ball: Composing Policies for Long-Horizon Basketball Moves

Pei Xu, Zhen Wu, Ruocheng Wang, Vishnu Sarukkai, Kayvon Fatahalian, Ioannis Karamouzas, Victor Zordan, C. Karen Liu

Journal SIGGRAPH Asia 2025 Animation & Simulation
Character Animation Physics-Based Control Reinforcement Learning Hierarchical Reinforcement Learning Policy Composition Motion Synthesis Adversarial Imitation Learning Basketball

MaskedManipulator: Versatile Whole-Body Control for Loco-Manipulation

Chen Tessler, Yifeng Jiang, Erwin Coumans, Zhengyi Luo, Gal Chechik, Xue Bin Peng

Conference SIGGRAPH Asia 2025 Animation & Simulation
Physics-Based Animation Reinforcement Learning Full-Body Manipulation Goal-Conditioned Control Humanoid Character Motion Tracking

PhysHMR: Learning Humanoid Control Policies from Vision for Physically Plausible Human Motion Reconstruction

Qiao Feng, Yiming Huang, Yufu Wang, Jiatao Gu, Lingjie Liu

Conference SIGGRAPH Asia 2025 Reconstruction
Human Motion Reconstruction Humanoid Control Reinforcement Learning Physics Simulation Monocular Video

ADD: Physics-Based Motion Imitation with Adversarial Differential Discriminators

Ziyu Zhang, Sergey Bashkirov, Dun Yang, Michael Taylor, Xue Bin Peng

Conference SIGGRAPH Asia 2025 Animation & Simulation
Physics-Based Animation Motion Tracking Reinforcement Learning Adversarial Imitation Learning Multi-Objective Optimization Humanoid Character

RL-ACD: Reinforcement Learning-based Approximate Convex Decomposition

Yuzhe Luo, Zherong Pan, Kui Wu, Xingyi Du, Yun Zeng, Xiangjun Tang, Yiqian Wu, Xiaogang Jin, Xifeng Gao

Journal meta-only SIGGRAPH Asia 2025 Geometry & Modeling
Approximate Convex Decomposition Reinforcement Learning Convex Decomposition Collision Detection Shape Decomposition Geometry Processing