1. Sentence: This paper presents a physics-based locomotion controller based on online planning.
2. Problem: It is hard to generate locomotion for simulated characters that obeys physics and looks good.
3. Key Idea: The controller chooses a general plan based on a simplified, low-dimensional physical model, then optimizes motion based on the chosen plan.
4.a What the paper does: Uses a low-dimensional preview model to make decisions about gait and stance, then runs a more detailed optimization constrained by the choices from the preview.
4.b. What it could be used for: Natural animation of characters given constant user input, such as in video games.
5. Resources: Video