mlsanityData to 7 Oct 2026

CALM: Conditional Adversarial Latent Models for Directable Virtual Characters

arXiv 2305.02195 ↗First posted 2 May 2023cs.CV cs.AI cs.ROcited by 91

Not on the map. Why?

Abstract (arXiv)

In this work, we present Conditional Adversarial Latent Models (CALM), an approach for generating diverse and directable behaviors for user-controlled interactive virtual characters. Using imitation learning, CALM learns a representation of movement that captures the complexity and diversity of human motion, and enables direct control over character movements. The approach jointly learns a control policy and a motion encoder that reconstructs key characteristics of a given motion without merely replicating it. The results show that CALM learns a semantic motion representation, enabling control over the generated motions and style-conditioning for higher-level task training. Once trained, the character can be controlled using intuitive interfaces, akin to those found in video games.

Key facts. Cited by 91 papers in the map (data through 7 Oct 2026). Builds on 17 of its 33 references that are in the map. First posted on arXiv 2 May 2023.

Builds on

17 of 33 references.

References · 17

  1. 2017Proximal Policy Optimization Algorithmscited by 14,441
  2. 2020A Simple Framework for Contrastive Learning of Visual Representationscited by 11,979
  3. 2018Representation Learning with Contrastive Predictive Codingcited by 7,662
  4. 2022Generative Adversarial Networkscited by 5,603
  5. 2013Auto-Encoding Variational Bayescited by 3,980
  6. 2016Improved Techniques for Training GANscited by 2,938
  7. 2016Generative Adversarial Imitation Learningcited by 1,576
  8. 2020Understanding Contrastive Representation Learning through Alignment and Uniformity on the Hyperspherecited by 1,393
  9. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 882
  10. 2017NormFace: L2 Hypersphere Embedding for Face Verificationcited by 237
  11. 2018Generative Adversarial Imitation from Observationcited by 183
  12. 2021Character Controllers Using Motion VAEscited by 182
5 more
  1. 2018DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skillscited by 153
  2. 2017Unsupervised Learning by Predicting Noisecited by 97
  3. 2016A Deep Hierarchical Approach to Lifelong Learning in Minecraftcited by 90
  4. 2018Spherical Latent Spaces for Stable Variational Autoencoderscited by 66
  5. 2023PADL: Language-Directed Physics-Based Character Controlcited by 47

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 13; 2024: 25; 2025: 29; 2026: 24.

91 papers.

Sort:

By area:

  1. 2024Open-TeleVision: Teleoperation with Immersive Active Visual Feedbackcited by 137
  2. 2024Expressive Whole-Body Control for Humanoid Robotscited by 117
  3. 2023Synthesizing Diverse Human Motions in 3D Indoor Scenescited by 109
  4. 2023Universal Humanoid Motion Representations for Physics-Based Controlcited by 109
  5. 2024MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpaintingcited by 101
  6. 2023TLControl: Trajectory and Language Control for Human Motion Synthesiscited by 93
  7. 2023EMDM: Efficient Motion Diffusion Model for Fast and High-Quality Motion Generationcited by 88
  8. 2025SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Controlcited by 83
  9. 2024ExBody2: Advanced Expressive Humanoid Whole-Body Controlcited by 75
  10. 2025InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactionscited by 67
  11. 2024Lodge: A Coarse to Fine Diffusion Network for Long Dance Generation Guided by the Characteristic Dance Primitivescited by 59
  12. 2023MoConVQ: Unified Physics-Based Motion Control via Scalable Discrete Representationscited by 58
38 more
  1. 2024Taming Diffusion Probabilistic Models for Character Controlcited by 56
  2. 2023C·ASE: Learning Conditional Adversarial Skill Embeddings for Physics-based Characterscited by 53
  3. 2023Interactive Character Control with Auto-Regressive Motion Diffusion Modelscited by 52
  4. 2025Zero-Shot Whole-Body Humanoid Control via Behavioral Foundation Modelscited by 51
  5. 2023Synthesizing Physically Plausible Human Motions in 3D Scenescited by 47
  6. 2025AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Controlcited by 47
  7. 2024CooHOI: Learning Cooperative Human-Object Interaction with Manipulated Object Dynamicscited by 43
  8. 2024Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Controlcited by 41
  9. 2023Iterative Motion Editing with Natural Languagecited by 39
  10. 2023Neural Categorical Priors for Physics-Based Character Controlcited by 37
  11. 2024AnySkill: Learning Open-Vocabulary Physical Skill for Interactive Agentscited by 32
  12. 2023Prompt, Plan, Perform: LLM-based Humanoid Control via Quantized Imitation Learningcited by 31
  13. 2024SMPLOlympics: Sports Environments for Physically Simulated Humanoidscited by 29
  14. 2024Learning from Massive Human Videos for Universal Humanoid Pose Controlcited by 27
  15. 2024Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policiescited by 26
  16. 2024SkillMimic: Learning Basketball Interaction Skills from Demonstrationscited by 25
  17. 2023Revisit Human-Scene Interaction via Space Occupancycited by 24
  18. 2024PACER+: On-Demand Pedestrian Animation Controller in Driving Scenarioscited by 24
  19. 2025UniPhys: Unified Planner and Controller with Diffusion for Flexible Physics-Based Character Controlcited by 24
  20. 2025SkillMimic-V2: Learning Robust and Generalizable Interaction Skills from Sparse and Noisy Demonstrationscited by 23
  21. 2024Strategy and Skill Learning for Physics-based Table Tennis Animationcited by 17
  22. 2024Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robotscited by 16
  23. 2023AdaptNet: Policy Adaptation for Physics-Based Character Controlcited by 15
  24. 2024Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimickingcited by 14
  25. 2025Reconstructing 4D Spatial Intelligence: A Surveycited by 13
  26. 2024SIMS: Simulating Stylized Human-Scene Interactions with Retrieval-Augmented Script Generationcited by 12
  27. 2026InterPrior: Scaling Generative Control for Physics-Based Human-Object Interactionscited by 10
  28. 2024Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulationcited by 9
  29. 2025GROVE: A Generalized Reward for Learning Open-Vocabulary Physical Skillcited by 9
  30. 2025ModSkill: Physical Character Skill Modularizationcited by 7
  31. 2024Hand-Object Interaction Controller (HOIC): Deep Reinforcement Learning for Reconstructing Interactions with Physicscited by 6
  32. 2025Generating Physically Realistic and Directable Human Motions from Multi-Modal Inputscited by 6
  33. 2025Learning to Ball: Composing Policies for Long-Horizon Basketball Movescited by 6
  34. 2025Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learningcited by 5
  35. 2025KinTwin: Imitation Learning with Torque and Muscle Driven Biomechanical Models Enables Precise Replication of Able-Bodied and Impaired Movement from Markerless Motion Capturecited by 5
  36. 2025PhysHMR: Learning Humanoid Control Policies from Vision for Physically Plausible Human Motion Reconstructioncited by 5
  37. 2025CBIL: Collective Behavior Imitation Learning for Fish from Real Videoscited by 4
  38. 2025Let Humanoids Hike! Integrative Skill Development on Complex Trailscited by 4

50 most cited of 91 All 91 (JSON)

Similar, not cited

Close in wording, no citation either way

  1. 2023Synthesizing Physical Character-Scene Interactions
  2. 2021AMP: Adversarial Motion Priors for Stylized Physics-Based Character Control
  3. 2022ASE: Large-Scale Reusable Adversarial Skill Embeddings for Physically Simulated Characters
  4. 2025SMP: Reusable Score-Matching Motion Priors for Physics-Based Character Control
  5. 2021A GAN-Like Approach for Physics-Based Imitation Learning and Interactive Character Control
  6. 2023MAAIP: Multi-Agent Adversarial Interaction Priors for imitation from fighting demonstrations for physics-based characters
  7. 2022Unifying Human Motion Synthesis and Style Transfer with Denoising Diffusion Probabilistic Models
  8. 2026Latent Wasserstein Adversarial Imitation Learning