Related papers: Footprint-Driven Locomotion Composition
Generating stable walking gaits that yield natural locomotion when executed on robotic-assistive devices is a challenging task that often requires hand-tuning by domain experts. This paper presents an alternative methodology, where we…
Sound and movement are closely coupled, particularly in dance. Certain audio features have been found to affect the way we move to music. Is this relationship between sound and movement something which can be modelled using machine…
Motion trajectories offer reliable references for physics-based motion learning but suffer from sparsity, particularly in regions that lack sufficient data coverage. To address this challenge, we introduce a self-supervised, structured…
In this work, we present a data-driven framework for generating diverse in-betweening motions for kinematic characters. Our approach injects dynamic conditions and explicit motion controls into the procedure of motion transitions. Notably,…
We revisit human motion synthesis, a task useful in various real world applications, in this paper. Whereas a number of methods have been developed previously for this task, they are often limited in two aspects: focusing on the poses while…
Humans and animals developed a sophisticated motor control apparatus and there is much evidence that it has a modular structure. The modularity offers a range of benefits, e.g. ability to learn dissociable motion styles without interference…
In this study, we introduce a learning-based method for generating high-quality human motion sequences from text descriptions (e.g., ``A person walks forward"). Existing techniques struggle with motion diversity and smooth transitions in…
Controlling the manner in which a character moves in a real-time animation system is a challenging task with useful applications. Existing style transfer systems require access to a reference content motion clip, however, in real-time…
In this paper, we extend state of the art Model Predictive Control (MPC) approaches to generate safe bipedal walking on slippery surfaces. In this setting, we formulate walking as a trade off between realizing a desired walking velocity and…
People naturally conduct spontaneous body motions to enhance their speeches while giving talks. Body motion generation from speech is inherently difficult due to the non-deterministic mapping from speech to body motions. Most existing works…
Touch data from mobile devices are collected at scale but reveal little about the interactions that produce them. While biomechanical simulations can illuminate motor control processes, they have not yet been developed for touch…
Denoising diffusion models have shown great promise in human motion synthesis conditioned on natural language descriptions. However, integrating spatial constraints, such as pre-defined motion trajectories and obstacles, remains a challenge…
In this paper, we propose a footstep planning strategy based on model predictive control (MPC) that enables robust regulation of body orientation against undesired body rotations by optimizing footstep placement. Model-based locomotion…
The planning of whole-body motion and step time for bipedal locomotion is constructed as a model predictive control (MPC) problem, in which a sequence of optimization problems needs to be solved online. While directly solving these problems…
Locomotion gaits are fundamental for control of soft terrestrial robots. However, synthesis of these gaits is challenging due to modeling of robot-environment interaction and lack of a mathematical framework. This work presents an…
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…
Co-manipulation requires multiple humans to synchronize their motions with a shared object while ensuring reasonable interactions, maintaining natural poses, and preserving stable states. However, most existing motion generation approaches…
The movement of pedestrians is supposed to show certain regularities which can be best described by an ``algorithm'' for the individual behavior and is easily simulated on computers. This behavior is assumed to be determined by an intended…
We present MotionPersona, a novel real-time character controller that allows users to characterize a character by specifying attributes such as physical traits, mental states, and demographics, and projects these properties into the…
Can we make virtual characters in a scene interact with their surrounding objects through simple instructions? Is it possible to synthesize such motion plausibly with a diverse set of objects and instructions? Inspired by these questions,…