Related papers: Functionality-Driven Musculature Retargeting

Retargeting human motion to heterogeneous robots is a fundamental challenge in robotics, primarily due to the severe kinematic and dynamic discrepancies between varying embodiments. Existing solutions typically resort to training…

Creating believable motions for various characters has long been a goal in computer graphics. Current learning-based motion synthesis methods depend on extensive motion datasets, which are often challenging, if not impossible, to obtain. On…

Existing digital human models approximate the human skeletal system using rigid bodies connected by rotational joints. While the simplification is considered acceptable for legs and arms, it significantly lacks fidelity to model rich torso…

This work studies the challenge of transfer animations between characters whose skeletal topologies differ substantially. While many techniques have advanced retargeting techniques in decades, transfer motions across diverse topologies…

Retargeting motion across characters with varying body shapes while preserving interaction semantics, such as self-contact and near-body proximity, remains a challenging problem. While recent geometry-aware approaches address this by…

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…

Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to clinical populations. To address this…

Image retargeting, which resizes images to one with a prescribed aspect ratio by determining an optimal warping map, has gained substantial interest in imaging science. Despite significant advances, existing methods often fail to ensure…

We present a novel framework that brings the 3D motion retargeting task from controlled environments to in-the-wild scenarios. In particular, our method is capable of retargeting body motion from a character in a 2D monocular video to a 3D…

In this paper, we present a method of clothes retargeting; generating the potential poses and deformations of a given 3D clothing template model to fit onto a person in a single RGB image. The problem is fundamentally ill-posed as attaining…

The embodied learning of human motor control requires whole-body neuro-actuated musculoskeletal dynamics, while the internal muscle-driven processes underlying movement remain inaccessible to direct measurement. Computational modeling…

Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving objects with different geometries. This is nontrivial since we…

This paper introduces MotionGlot, a model that can generate motion across multiple embodiments with different action dimensions, such as quadruped robots and human bodies. By leveraging the well-established training procedures commonly used…

Recent studies have demonstrated the immense potential of exploiting muscle actuator morphology for natural and robust movement -- in simulation. A validation on real robotic hardware is yet missing. In this study, we emulate muscle…

One of the important advantages of musculoskeletal humanoids is that the muscle arrangement can be easily changed and the number of muscles can be increased according to the situation. In this study, we describe an overall system of muscle…

In this paper, we present a novel kinematic model of the human phalanges based on the elliptical motion of their joints. The presence of the soft elastic tissues and the general anatomical structure of the hand joints highly affect the…

3D Human Body Reconstruction from a monocular image is an important problem in computer vision with applications in virtual and augmented reality platforms, animation industry, en-commerce domain, etc. While several of the existing works…

Due to the visual ambiguity, purely kinematic formulations on monocular human motion capture are often physically incorrect, biomechanically implausible, and can not reconstruct accurate interactions. In this work, we focus on exploiting…

Existing text-to-video methods struggle to transfer motion smoothly from a reference object to a target object with significant differences in appearance or structure between them. To address this challenge, we introduce MotionShot, a…

Musculoskeletal humanoids are robots that closely mimic the human musculoskeletal system, offering various advantages such as variable stiffness control, redundancy, and flexibility. However, their body structure is complex, and muscle…