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Although humanoid and quadruped robots provide a wide range of capabilities, current control methods, such as Deep Reinforcement Learning, focus mainly on single skills. This approach is inefficient for solving more complicated tasks where…

Animating 3D characters using motion capture data requires basic expertise and manual labor. To support the creativity of animation design and make it easier for common users, we present a sketch-based interface DualMotion, with rough…

Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…

We present a method for reproducing complex multi-character interactions for physically simulated humanoid characters using deep reinforcement learning. Our method learns control policies for characters that imitate not only individual…

Automated methods for facial animation are a necessary tool in the modern industry since the standard blendshape head models consist of hundreds of controllers and a manual approach is painfully slow. Different solutions have been proposed…

In this article, we show that learned policies can be applied to solve legged locomotion control tasks with extensive flight phases, such as those encountered in space exploration. Using an off-the-shelf deep reinforcement learning…

Millirobots are a promising robotic platform for many applications due to their small size and low manufacturing costs. Legged millirobots, in particular, can provide increased mobility in complex environments and improved scaling of…

Digital human animation relies on high-quality 3D models of the human face: rigs. A face rig must be accurate and, at the same time, fast to compute. One of the most common rigging models is the blendshape model. We propose a novel…

Endowing humanoid robots with the ability to perform highly dynamic motions akin to human-level acrobatics has been a long-standing challenge. Successfully performing these maneuvers requires close consideration of the underlying physics in…

Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic range is curtailed. In addition, kinodynamic constraints are…

Transferring articulated motion from monocular videos to rigged 3D characters is challenging due to pose ambiguity in 2D observations and morphological differences between source and target. Existing approaches often follow a…

Modern interactive applications increasingly demand dynamic 3D content, yet the transformation of static 3D models into animated assets constitutes a significant bottleneck in content creation pipelines. While recent advances in generative…

We propose a deep videorealistic 3D human character model displaying highly realistic shape, motion, and dynamic appearance learned in a new weakly supervised way from multi-view imagery. In contrast to previous work, our controllable 3D…

We present a realistic, robust, and computationally fast method of solving highly non-linear inverse kinematic problems with angular limits using the Gauss-Seidel iterative method. Our method is ideally suited towards character based…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

StyleGAN generates photorealistic portrait images of faces with eyes, teeth, hair and context (neck, shoulders, background), but lacks a rig-like control over semantic face parameters that are interpretable in 3D, such as face pose,…

Over the course of the last several years there was a strong interest in application of modern optimal control techniques to the field of character animation. This interest was fueled by introduction of efficient learning based algorithms…

Traditional character animation specializes in characters with a rigidly articulated skeleton and a bipedal/quadripedal morphology. This assumption simplifies many aspects for designing physically based animations, like locomotion, but…

Robot animation is a new form of character animation that extends the traditional process by allowing the animated motion to become more interactive and adaptable during interaction with users in real-world settings. This paper reviews how…

Producing expressive facial animations from static images is a challenging task. Prior methods relying on explicit geometric priors (e.g., facial landmarks or 3DMM) often suffer from artifacts in cross reenactment and struggle to capture…