PlaMo: Plan and Move in Rich 3D Physical Environments

Assaf Hallak; Gal Dalal; Chen Tessler; Kelly Guo; Shie Mannor; Gal Chechik

doi:10.1007/978-3-031-92387-6_30

PlaMo: Plan and Move in Rich 3D Physical Environments

Assaf Hallak, Gal Dalal, Chen Tessler, Kelly Guo, Shie Mannor, Gal Chechik

NVIDIA

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

Original language	English
Title of host publication	Computer Vision – ECCV 2024 Workshops, Proceedings
Editors	Alessio Del Bue, Cristian Canton, Jordi Pont-Tuset, Tatiana Tommasi
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	442-463
Number of pages	22
ISBN (Print)	9783031923869
DOIs	https://doi.org/10.1007/978-3-031-92387-6_30
State	Published - 2025
Externally published	Yes
Event	Workshops that were held in conjunction with the 18th European Conference on Computer Vision, ECCV 2024 - Milan, Italy Duration: 29 Sep 2024 → 4 Oct 2024

Publication series

Name	Lecture Notes in Computer Science
Volume	15624 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	Workshops that were held in conjunction with the 18th European Conference on Computer Vision, ECCV 2024
Country/Territory	Italy
City	Milan
Period	29/09/24 → 4/10/24

Bibliographical note

Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

Access to Document

10.1007/978-3-031-92387-6_30

Cite this

Hallak, A., Dalal, G., Tessler, C., Guo, K., Mannor, S., & Chechik, G. (2025). PlaMo: Plan and Move in Rich 3D Physical Environments. In A. Del Bue, C. Canton, J. Pont-Tuset, & T. Tommasi (Eds.), Computer Vision – ECCV 2024 Workshops, Proceedings (pp. 442-463). (Lecture Notes in Computer Science; Vol. 15624 LNCS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-92387-6_30

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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",

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Hallak, A, Dalal, G, Tessler, C, Guo, K, Mannor, S & Chechik, G 2025, PlaMo: Plan and Move in Rich 3D Physical Environments. in A Del Bue, C Canton, J Pont-Tuset & T Tommasi (eds), Computer Vision – ECCV 2024 Workshops, Proceedings. Lecture Notes in Computer Science, vol. 15624 LNCS, Springer Science and Business Media Deutschland GmbH, pp. 442-463, Workshops that were held in conjunction with the 18th European Conference on Computer Vision, ECCV 2024, Milan, Italy, 29/09/24. https://doi.org/10.1007/978-3-031-92387-6_30

PlaMo: Plan and Move in Rich 3D Physical Environments. / Hallak, Assaf; Dalal, Gal; Tessler, Chen et al.
Computer Vision – ECCV 2024 Workshops, Proceedings. ed. / Alessio Del Bue; Cristian Canton; Jordi Pont-Tuset; Tatiana Tommasi. Springer Science and Business Media Deutschland GmbH, 2025. p. 442-463 (Lecture Notes in Computer Science; Vol. 15624 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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