Related papers: Footprint-Driven Locomotion Composition
Synthesis of long-term human motion skeleton sequences is essential to aid human-centric video generation with potential applications in Augmented Reality, 3D character animations, pedestrian trajectory prediction, etc. Long-term human…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
Creating expressive character animations is labor-intensive, requiring intricate manual adjustment of animators across space and time. Previous works on controllable motion generation often rely on a predefined set of dense spatio-temporal…
This paper proposes the Transition Motion Tensor, a data-driven framework that creates novel and physically accurate transitions outside of the motion dataset. It enables simulated characters to adopt new motion skills efficiently and…
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…
We present a method that finds locomanipulation plans that perform simultaneous locomotion and manipulation of objects for a desired end-effector trajectory. Key to our approach is to consider a generic locomotion constraint manifold that…
Character animation in real-world scenarios necessitates a variety of constraints, such as trajectories, key-frames, interactions, etc. Existing methodologies typically treat single or a finite set of these constraint(s) as separate control…
This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manipulating deformable objects; thus, detailed models are often…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
We address the challenge of effectively controlling the locomotion of legged robots by incorporating precise frequency and phase characteristics, which is often ignored in locomotion policies that do not account for the periodic nature of…
Limited data availability is a challenging problem in the latent fingerprint domain. Synthetically generated fingerprints are vital for training data-hungry neural network-based algorithms. Conventional methods distort clean fingerprints to…
This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a model predictive controller (MPC). Due to density functions…
Achieving high-fidelity and temporally smooth 3D human motion generation remains a challenge, particularly within resource-constrained environments. We introduce FlowMotion, a novel method leveraging Conditional Flow Matching (CFM).…
The ability to generate dynamic walking in real-time for bipedal robots with input constraints and underactuation has the potential to enable locomotion in dynamic, complex and unstructured environments. Yet, the high-dimensional nature of…
We present a sampling-based kinodynamic planning framework for a bipedal robot in complex environments. Unlike other footstep planner which typically plan footstep locations and the biped dynamics in separate steps, we handle both…
The biomechanics of the human body gives subjects a high degree of freedom in how they can execute movement. Nevertheless, subjects exhibit regularity in their movement patterns. One way to account for this regularity is to suppose that…
A critical challenge in contemporary sports science lies in filling the gap between group-level insights derived from controlled hypothesis-driven experiments and the real-world need for personalized coaching tailored to individual…
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…
Although existing text-to-motion (T2M) methods can produce realistic human motion from text description, it is still difficult to align the generated motion with the desired postures since using text alone is insufficient for precisely…
This work presents a microscopic model to describe pedestrian flows based on the social force theory. The aim of this study is twofold: (1) developing a realistic model that can be used as a tool for designing pedestrian-friendly…