@inproceedings{Kapadia:2016:PPE:2856400.2856404,
 author = {Kapadia, Mubbasir and Xianghao, Xu and Nitti, Maurizio and Kallmann, Marcelo and Coros, Stelian and Sumner, Robert W. and Gross, Markus},
 title = {PRECISION: Precomputing Environment Semantics for Contact-rich Character Animation},
 booktitle = {Proceedings of the 20th ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games},
 series = {I3D '16},
 year = {2016},
 isbn = {978-1-4503-4043-4},
 location = {Redmond, Washington},
 pages = {29--37},
 publisher = {ACM},
 address = {New York, NY, USA},
 keywords = {character animation, contact-rich motion, environment semantics},
}