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Motion tracking has been an important technique for imitating human-like movement from large-scale datasets in physics-based motion synthesis. However, existing approaches focus on tracking either single character or a particular type of…
Rigging and skinning clothed human avatars is a challenging task and traditionally requires a lot of manual work and expertise. Recent methods addressing it either generalize across different characters or focus on capturing the dynamics of…
Rigged puppets are one of the most prevalent representations to create 2D character animations. Creating these puppets requires partitioning characters into independently moving parts. In this work, we present a method to automatically…
Proportional-Integrator-Derivative (PID) controller is used in a wide range of industrial and experimental processes. There are a couple of offline methods for tuning PID gains. However, due to the uncertainty of model parameters and…
Quadrupeds transition spontaneously to various gait patterns (e.g., walk, trot, pace, gallop) in response to the locomotion speed. The generation of these gait patterns has been the subject of debate for a long time. We propose a coupled…
Human video generation task has gained significant attention with the advancement of deep generative models. Generating realistic videos with human movements is challenging in nature, due to the intricacies of human body topology and…
Portrait animation from a single source image and a driving video is a long-standing problem. Recent approaches tend to adopt diffusion-based image/video generation models for realistic and expressive animation. However, none of these…
We tackle the challenges of synthesizing versatile, physically simulated human motions for full-body object manipulation. Unlike prior methods that are focused on detailed motion tracking, trajectory following, or teleoperation, our…
Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a…
Teleoperated robotic characters can perform expressive interactions with humans, relying on the operators' experience and social intuition. In this work, we propose to create autonomous interactive robots, by training a model to imitate…
We present a simple and intuitive approach for interactive control of physically simulated characters. Our work builds upon generative adversarial networks (GAN) and reinforcement learning, and introduces an imitation learning framework…
The kinematic features of a centaur-type humanoid platform, combined with a powerful actuation, enable the experimentation of a variety of agile and dynamic motions. However, the higher number of degrees-of-freedom and the increased weight…
Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
Creating realistic 3D facial animation is crucial for various applications in the movie production and gaming industry, especially with the burgeoning demand in the metaverse. However, prevalent methods such as blendshape-based approaches…
Controllable character image animation has a wide range of applications. Although existing studies have consistently improved performance, challenges persist in the field of character image animation, particularly concerning stability in…
Facial expression editing methods can be mainly categorized into two types based on their architectures: 2D-based and 3D-based methods. The former lacks 3D face modeling capabilities, making it difficult to edit 3D factors effectively. The…
Tried-and-true flapping wing robot simulation is essential in developing flapping wing mechanisms and algorithms. This paper presents a novel application-oriented flapping wing platform, highly compatible with various mechanical designs and…
We provide an algorithm for adaptive legged locomotion via online learning and model predictive control. The algorithm is composed of two interacting modules: model predictive control (MPC) and online learning of residual dynamics. The…
Can a quadrupedal robot perform bipedal motions like humans? Although developing human-like behaviors is more often studied on costly bipedal robot platforms, we present a solution over a lightweight quadrupedal robot that unlocks the…