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Data-driven character animation techniques rely on the existence of a properly established model of motion, capable of describing its rich context. However, commonly used motion representations often fail to accurately encode the full…
Some of the most challenging environments on our planet are accessible to quadrupedal animals but remain out of reach for autonomous machines. Legged locomotion can dramatically expand the operational domains of robotics. However,…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
Active soft bodies can affect their shape through an internal actuation mechanism that induces a deformation. Similar to recent work, this paper utilizes a differentiable, quasi-static, and physics-based simulation layer to optimize for…
In this paper, we consider retargeting a tracked facial performance to either another person or to a virtual character in a game or virtual reality (VR) environment. We remove the difficulties associated with identifying and retargeting the…
Virtual character animation control is a problem for which Reinforcement Learning (RL) is a viable approach. While current work have applied RL effectively to portray physics-based skills, social behaviours are challenging to design reward…
In recent years, quadruped robots have attracted significant attention due to their practical advantages in maneuverability, particularly when navigating rough terrain and climbing stairs. As these robots become more integrated into various…
Generating portrait images by controlling the motions of existing faces is an important task of great consequence to social media industries. For easy use and intuitive control, semantically meaningful and fully disentangled parameters…
Animals use limbs for both locomotion and manipulation. We aim to equip quadruped robots with similar versatility. This work introduces a system that enables quadruped robots to interact with objects using their legs, inspired by…
Humans excel in navigating diverse, complex environments with agile motor skills, exemplified by parkour practitioners performing dynamic maneuvers, such as climbing up walls and jumping across gaps. Reproducing these agile movements with…
Mapping discrete and dimensional models of emotion remains a persistent challenge in affective science and computing. This incompatibility hinders the combination of valuable data sets, creating a significant bottleneck for training robust…
We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and…
3D animation is central to modern visual media, yet traditional production pipelines remain labor-intensive, expertise-demanding, and computationally expensive. Recent AIGC-based approaches partially automate asset creation and rigging, but…
Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…
This paper presents a novel Representation-Free Model Predictive Control (RF-MPC) framework for controlling various dynamic motions of a quadrupedal robot in three dimensional (3D) space. Our formulation directly represents the rotational…
Since the introduction of DeepMimic [Peng et al. 2018], subsequent research has focused on expanding the repertoire of simulated motions across various scenarios. In this study, we propose an alternative approach for this goal, a deep…
Motion transfer from the driving to the source portrait remains a key challenge in the portrait animation. Current diffusion-based approaches condition only on the driving motion, which fails to capture source-to-driving correspondences and…
Animating stylized avatars with dynamic poses and expressions has attracted increasing attention for its broad range of applications. Previous research has made significant progress by training controllable generative models to synthesize…
Animation of humanoid characters is essential in various graphics applications, but requires significant time and cost to create realistic animations. We propose an approach to synthesize 4D animated sequences of input static 3D humanoid…
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…