  We present a technique for controlling physically simulated characters using
user inputs from an off-the-shelf depth camera. Our controller takes a
real-time stream of user poses as input, and simulates a stream of target poses
of a biped based on it. The simulated biped mimics the user's actions while
moving forward at a modest speed and maintaining balance. The controller is
parameterized over a set of modulated reference motions that aims to cover the
range of possible user actions. For real-time simulation, the best set of
control parameters for the current input pose is chosen from the parameterized
sets of pre-computed control parameters via a regression method. By applying
the chosen parameters at each moment, the simulated biped can imitate a range
of user actions while walking in various interactive scenarios.
