  Controlling humanoids in complex physically simulated worlds is a
long-standing challenge with numerous applications in gaming, simulation, and
visual content creation. In our setup, given a rich and complex 3D scene, the
user provides a list of instructions composed of target locations and
locomotion types. To solve this task we present PlaMo, a scene-aware path
planner and a robust physics-based controller. The path planner produces a
sequence of motion paths, considering the various limitations the scene imposes
on the motion, such as location, height, and speed. Complementing the planner,
our control policy generates rich and realistic physical motion adhering to the
plan. We demonstrate how the combination of both modules enables traversing
complex landscapes in diverse forms while responding to real-time changes in
the environment. Video: https://youtu.be/wWlqSQlRZ9M .
