PlaMo: Plan and Move in Rich 3D Physical Environments

TL;DR

PlaMo is a novel system that combines scene-aware path planning with physics-based control to enable humanoid robots to navigate complex 3D environments realistically and adaptively.

Contribution

It introduces a unified framework integrating path planning and physics-based control tailored for complex 3D scenes, advancing humanoid navigation capabilities.

Findings

Effective traversal of complex landscapes demonstrated

Real-time environmental adaptation achieved

Realistic physical motions generated

Abstract

Controlling humanoids in complex physically simulated worlds is a long-standing challenge with numerous applications in gaming, simulation, and visual content creation. In our setup, given a rich and complex 3D scene, the user provides a list of instructions composed of target locations and locomotion types. To solve this task we present PlaMo, a scene-aware path planner and a robust physics-based controller. The path planner produces a sequence of motion paths, considering the various limitations the scene imposes on the motion, such as location, height, and speed. Complementing the planner, our control policy generates rich and realistic physical motion adhering to the plan. We demonstrate how the combination of both modules enables traversing complex landscapes in diverse forms while responding to real-time changes in the environment. Video: https://youtu.be/wWlqSQlRZ9M .