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Optimization of action space
Integrating on complex terrains
Offline simulation with random terrains
Learn "reduced action space"
Motion planning at run time
Synthesis of Constrained Walking Skills. S. Coros et al. SIGGRAPH 2008
Generate as-diverse-as-possible variation of possible motions
Diverse Motion Variations for Physics-based Character Animation. S. Agrawal et al. SCA 2013.
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