Summary of Plamo: Plan and Move in Rich 3d Physical Environments, by Assaf Hallak and Gal Dalal et al.
PlaMo: Plan and Move in Rich 3D Physical Environments
by Assaf Hallak, Gal Dalal, Chen Tessler, Kelly Guo, Shie Mannor, Gal Chechik
First submitted to arxiv on: 26 Jun 2024
Categories
- Main: Artificial Intelligence (cs.AI)
- Secondary: Graphics (cs.GR); Robotics (cs.RO)
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| Summary difficulty | Written by | Summary |
|---|---|---|
| High | Paper authors | High Difficulty Summary Read the original abstract here |
| Medium | GrooveSquid.com (original content) | Medium Difficulty Summary This paper proposes PlaMo, a scene-aware path planner and physics-based controller for controlling humanoids in complex 3D scenes. The user provides instructions composed of target locations and locomotion types, which the system uses to generate a sequence of motion paths considering scene limitations. The control policy then produces realistic physical motion adhering to the plan, enabling traversal of complex landscapes while responding to real-time environmental changes. |
| Low | GrooveSquid.com (original content) | Low Difficulty Summary In this setup, users provide instructions for controlling humanoids in 3D scenes. PlaMo combines a path planner and controller to help robots move through these environments. The path planner creates a sequence of motion paths based on scene limitations like location and speed. The control policy makes the robot move in realistic ways that follow the plan. This lets robots navigate complex spaces while responding to changes. |
