@article{docdifferentiableoptimalcontrol2023,
  title = {DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots},
  author = {Grandia, R. and Farshidian, F. and Knoop, E. and Schumacher, C. and Hutter, M. and Bacher, M.},
  year = {2023},
  journal = {ACM Transactions on Graphics (SIGGRAPH 2023)},
  url = {https://dl.acm.org/doi/10.1145/3592454},
  abstract = {DOC, by Grandia, Farshidian, Knoop, Schumacher, Hutter and Bacher from Disney Research and ETH Zurich, presents a differentiable optimal control framework for retargeting authored or motion-captured animation onto physically simulated legged robots. The work received a Best Paper award at SIGGRAPH 2023. Its primary nexus is robotic-character performance, with animation-education relevance as the bridge between digital animation authoring and the physical execution of character motion -- a connection of increasing practical importance as animatronic and robotic characters enter theme-park and performance contexts.},
  keywords = {motion-synthesis, character-animation},
  note = {AI \& Animation Education Knowledge Base}
}