PartwiseMPC: Interactive Control of Contact‐Guided Motions
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
Abstract Physics‐based character motions remain difficult to create and control. We make two contributions towards simpler specification and faster generation of physics‐based control. First, we introduce a novel partwise model predictive control (MPC) method that exploits independent planning for body parts when this proves beneficial, while defaulting to whole‐body motion planning when that proves to be more effective. Second, we introduce a new approach to motion specification, based on specifying an ordered set of contact keyframes. These each specify a small number of pairwise contacts between the body and the environment, and serve as loose specifications of motion strategies. Unlike regular keyframes or traditional trajectory optimization constraints, they are heavily under‐constrained and have flexible timing. We demonstrate a range of challenging contact‐rich motions that can be generated online at interactive rates using this framework. We further show the generalization capabilities of the method.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it