Related papers: Animation of virtual mannequins, robot-like simula…
Existing human Motion Capture (MoCap) methods mostly focus on the visual similarity while neglecting the physical plausibility. As a result, downstream tasks such as driving virtual human in 3D scene or humanoid robots in real world suffer…
Quantitatively evaluating and comparing the performance of robotic solutions that are designed to work under a variety of conditions is inherently challenging because they need to be evaluated under numerous precisely repeatable conditions…
Real-time computation of optimal control is a challenging problem and, to solve this difficulty, many frameworks proposed to use learning techniques to learn (possibly sub-optimal) controllers and enable their usage in an online fashion.…
Human hand simulation plays a critical role in digital twin applications, requiring models that balance anatomical fidelity with computational efficiency. We present a complete pipeline for constructing multi-rigid-body approximations of…
We propose a novel approach to the 'reality gap' problem, i.e., modifying a robot simulation so that its performance becomes more similar to observed real world phenomena. This problem arises whether the simulation is being used by human…
This report reviews recent advancements in human motion prediction, reconstruction, and generation. Human motion prediction focuses on forecasting future poses and movements from historical data, addressing challenges like nonlinear…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
Animating an avatar that reflects a user's action in the VR world enables natural interactions with the virtual environment. It has the potential to allow remote users to communicate and collaborate in a way as if they met in person.…
We present a method for controlling a simulated humanoid to grasp an object and move it to follow an object's trajectory. Due to the challenges in controlling a humanoid with dexterous hands, prior methods often use a disembodied hand and…
Drawing tools for Virtual Reality (VR) enable users to model 3D designs from within the virtual environment itself. These tools employ sketching and sculpting techniques known from desktop-based interfaces and apply them to hand-based…
Alignment between real and virtual objects is a challenging task required for the deployment of Mixed Reality (MR) into manufacturing, medical, and construction applications. To face this challenge, a series of methods have been proposed.…
Many application areas ranging from serious games for health to learning by demonstration in robotics, could benefit from large body movement datasets extracted from textual instructions accompanied by images. The interpretation of…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of planning collision-free path between start…
Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic…
Video data is more cost-effective than motion capture data for learning 3D character motion controllers, yet synthesizing realistic and diverse behaviors directly from videos remains challenging. Previous approaches typically rely on…
A typical manipulation task consists of a manipulator equipped with a gripper to grasp and move an object with constraints on the motion of the hand-held object, which may be due to the nature of the task itself or from object-environment…
We propose a method to estimate the mechanical parameters of fabrics using a casual capture setup with a depth camera. Our approach enables to create mechanically-correct digital representations of real-world textile materials, which is a…
Virtual human techniques have been used a lot in industrial design in order to consider human factors and ergonomics as early as possible. The physical status (the physical capacity of virtual human) has been mostly treated as invariable in…
When designing systems that are complex, dynamic and stochastic in nature, simulation is generally recognised as one of the best design support technologies, and a valuable aid in the strategic and tactical decision making process. A…