Related papers: Footprint-Driven Locomotion Composition
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…
Data-driven modelling and synthesis of motion is an active research area with applications that include animation, games, and social robotics. This paper introduces a new class of probabilistic, generative, and controllable motion-data…
Motion planning for locomotion systems typically requires translating high-level rigid-body tasks into low-level joint trajectories-a process that is straightforward for car-like robots with fixed, unbounded actuation inputs but more…
Animals locomote for various reasons: to search for food, find suitable habitat, pursue prey, escape from predators, or seek a mate. The grand scale of biodiversity contributes to the great locomotory design and mode diversity. Various…
Biological function of living matter is fulfilled by complex motions of biological and soft matter. Unlike general motion is deterministic described by Newton's laws, these motions are mostly random and uncertain for the position in…
This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework,…
Everyday locomotion is a complex sensorimotor process that can unfold over multiple timescales, from long-term path planning to rapid, reactive adjustments. However, we lack an understanding of how factors such as environmental demands, or…
Humans are able to negotiate downstep behaviors -- both planned and unplanned -- with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if…
In the realm of motion generation, the creation of long-duration, high-quality motion sequences remains a significant challenge. This paper presents our groundbreaking work on "Infinite Motion", a novel approach that leverages long text to…
Motion is a fundamental cue for scene analysis and human activity understan- ding in videos. It can be encoded in trajectories for tracking objects and for action recognition, or in form of flow to address behaviour analysis in crowded…
Motion control is crucial for generating expressive and compelling video content; however, most existing video generation models rely mainly on text prompts for control, which struggle to capture the nuances of dynamic actions and temporal…
This paper presents a framework that leverages both control theory and machine learning to obtain stable and robust bipedal locomotion without the need for manual parameter tuning. Traditionally, gaits are generated through trajectory…
Stylized motion breathes life into characters. However, the fixed skeleton structure and style representation hinder existing data-driven motion synthesis methods from generating stylized motion for various characters. In this work, we…
This paper systematically decomposes a quadrupedal robot into bipeds to rapidly generate walking gaits and then recomposes these gaits to obtain quadrupedal locomotion. We begin by decomposing the full-order, nonlinear and hybrid dynamics…
Text-to-motion synthesis is a crucial task in computer vision. Existing methods are limited in their universality, as they are tailored for single-person or two-person scenarios and can not be applied to generate motions for more…
Generating realistic motions for digital humans is time-consuming for many graphics applications. Data-driven motion synthesis approaches have seen solid progress in recent years through deep generative models. These results offer…
Walking animals, like stick insects, cockroaches or ants, demonstrate a fascinating range of locomotive abilities and complex behaviors. The locomotive behaviors can consist of a variety of walking patterns along with adaptation that allow…
Existing keyframe-based motion synthesis mainly focuses on the generation of cyclic actions or short-term motion, such as walking, running, and transitions between close postures. However, these methods will significantly degrade the…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…