Related papers: A Motion Taxonomy for Manipulation Embedding
Text-to-motion models excel at efficient human motion generation, but existing approaches lack fine-grained controllability over the generation process. Consequently, modifying subtle postures within a motion or inserting new actions at…
In this paper, we develop the theory of constrained motion spaces of robotic arms. We compute their homology groups in two cases: when the constraint is a horizontal line and when it is a smooth curve whose motion space is a smooth…
Human mobility in cities is shaped not only by visible structures such as highways, rivers, and parks but also by invisible barriers rooted in socioeconomic segregation, uneven access to amenities, and administrative divisions. Yet…
This paper strives for motion-focused video-language representations. Existing methods to learn video-language representations use spatial-focused data, where identifying the objects and scene is often enough to distinguish the relevant…
People may perform diverse gestures affected by various mental and physical factors when speaking the same sentences. This inherent one-to-many relationship makes co-speech gesture generation from audio particularly challenging.…
We introduce a novel musculoskeletal model of a dog, procedurally generated from accurate 3D muscle meshes. Accompanying this model is a motion capture-based locomotion task compatible with a variety of control algorithms, as well as an…
Dexterous in-hand manipulation is a peculiar and useful human skill. This ability requires the coordination of many senses and hand motion to adhere to many constraints. These constraints vary and can be influenced by the object…
Teaching robots novel behaviors typically requires motion demonstrations via teleoperation or kinaesthetic teaching, that is, physically guiding the robot. While recent work has explored using human sketches to specify desired behaviors,…
Multimodal language models (MLMs) integrate visual and textual information by coupling a vision encoder with a large language model through the specific adapter. While existing approaches commonly rely on a single pre-trained vision…
Body posture influences human and robots performance in manipulation tasks, as appropriate poses facilitate motion or force exertion along different axes. In robotics, manipulability ellipsoids arise as a powerful descriptor to analyze,…
Motion capture is the process of recording the movement of objects or people. It is used in military, entertainment, sports, and medical applications, and for validation of computer vision[2] and robotics. In filmmaking and video game…
In this paper, we present a novel method of motion planning for performing complex manipulation tasks by using human demonstration and exploiting the screw geometry of motion. We consider complex manipulation tasks where there are…
Imitation learning method has shown immense promise for robotic manipulation, yet its practical deployment is fundamentally constrained by the data scarcity. Despite prior work on collecting large-scale datasets, there still remains a…
This report reviews recent advancements in human motion prediction, reconstruction, and generation. Human motion prediction focuses on forecasting future poses and movements from historical data, addressing challenges like nonlinear…
Effective human action recognition is widely used for cobots in Industry 4.0 to assist in assembly tasks. However, conventional skeleton-based methods often lose keypoint semantics, limiting their effectiveness in complex interactions. In…
We propose a novel task for generating 3D dance movements that simultaneously incorporate both text and music modalities. Unlike existing works that generate dance movements using a single modality such as music, our goal is to produce…
Motion estimation is a key component of any modern video codec. Our understanding of motion and the estimation of motion from video has come a very long way since 2000. More than 135 different algorithms have been recently reviewed by…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
Position recordings of the two-dimensional tracks of animals moving over landscapes has progressed over the past three decades from hourly to second-by-second locations. Track segmentation methods for analyzing the behavioral information in…
Keyframes are a standard representation for kinematic motion specification. Recent learned motion-inbetweening methods use keyframes as a way to control generative motion models, and are trained to generate life-like motion that matches the…