Related papers: Realistic Physics Based Character Controller
In order to optimize the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products, the numerical model. However, in order to be able to avoid…
Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft appendices of vertebrate animals (e.g., an elephant's trunk, a…
Despite recent progress in developing animatable full-body avatars, realistic modeling of clothing - one of the core aspects of human self-expression - remains an open challenge. State-of-the-art physical simulation methods can generate…
Control theory deals with the study of controlling dynamical systems. Robots today are growing increasingly complex and moving out of factory floors to real world environment. These robots have to interact with real world environment…
My overarching research goal is to provide robots with perceptional abilities that allow interactions with humans in a human-like manner. To develop these perceptional abilities, I believe that it is useful to study the principles of the…
A common theme in all the above areas is designing a dynamical system to accomplish desired objectives, possibly in some predefined optimal way. Since control theory advances the idea of suitably modifying the behavior of a dynamical…
A particle filter is introduced to numerically approximate a solution of the global optimization problem. The theoretical significance of this work comes from its variational aspects: (i) the proposed particle filter is a controlled…
AI agents that take actions in their environment autonomously over extended time horizons require robust governance interventions to curb their potentially consequential risks. Prior proposals for governing AI agents primarily target…
It has been reported that virtual reality can be a useful tool for ergonomics study. The proposed integrated simulation system aims at measuring operator's performance in an interactive way for 2D control panel design. By incorporating some…
Biological systems often choose actions without an explicit reward signal, a phenomenon known as intrinsic motivation. The computational principles underlying this behavior remain poorly understood. In this study, we investigate an…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
Simulations are gaining increasingly significance in the field of autonomous driving due to the demand for rapid prototyping and extensive testing. Employing physics-based simulation brings several benefits at an affordable cost, while…
In this work, we consider the problem of autonomous racing with multiple agents where agents must interact closely and influence each other to compete. We model interactions among agents through a game-theoretical framework and propose an…
The choice of visual representation is key to scaling generalist robot policies. However, direct evaluation via policy rollouts is expensive, even in simulation. Existing proxy metrics focus on the representation's capacity to capture…
Achieving real-time physics-based animation that generalizes across diverse 3D shapes and discretizations remains a fundamental challenge. We introduce PhysSkin, a physics-informed framework that addresses this challenge. In the spirit of…
Predicting the outcomes of cyber-physical systems with multiple human interactions is a challenging problem. This article reviews a game theoretical approach to address this issue, where reinforcement learning is employed to predict the…
This paper presents a method for identifying mechanical parameters of robots or objects, such as their mass and friction coefficients. Key features are the use of off-the-shelf physics engines and the adaptation of a Bayesian optimization…
With captivating visual effects, stylized 3D character animation has gained widespread use in cinematic production, advertising, social media, and the potential development of virtual reality (VR) non-player characters (NPCs). However,…
Synthesizing 3D faces that give certain personality impressions is commonly needed in computer games, animations, and virtual world applications for producing realistic virtual characters. In this paper, we propose a novel approach to…
Recent advancements in personalized Text-to-Video (T2V) generation have made significant strides in synthesizing character-specific content. However, these methods face a critical limitation: the inability to perform fine-grained control…