Difference: GeneralizedBiped (6 vs. 7)

Contribution: The paper presenets a new method for biped walking control that is generalizable across different skills, gait parameters, and styles of motion. They choose four control components, which as shown by the authors, reinforce each other leading to a more generalizable control strategy. The control strategy is real-time for a single character.

Evaluation: The approach was tested on many different motions, motion styles and characters, including carrying heavy object, going up the stairs, crowd simulation, etc. Overall it looks that the evaluation was pretty extensive.

Reproducibility: It looks like all the details of the implementation are there, but I wouldn't really try to implement it: looks quite complicated.

Improvements: It would be interesting to see how well the model generalizes for different terrains and/or physical conditions (environmental effects: wind/water/...) - it looks like it can be modified to be generalized to that.

-- MikhailBessmeltsev - 24 Nov 2011