We present a motion synthesis framework capable of producing a wide variety of important human behaviors that have rarely been studied, including getting up from the ground, crawling, climbing, moving heavy objects, acrobatics (hand-stands in particular), and various cooperative actions involving two characters and their manipulation of the environment. Our framework is not specific to humans, but applies to characters of arbitrary morphology and limb configuration. The approach is fully automatic and does not require domain knowledge specific to each behavior. It also does not require pre-existing examples or motion capture data. At the core of our framework is the contact-invariant optimization (CIO) method we introduce here.
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