Related papers: Complementary Dynamics
We present an efficient spacetime optimization method to automatically generate animations for a general volumetric, elastically deformable body. Our approach can model the interactions between the body and the environment and automatically…
Recent advances in 3D scene reconstruction and 4D human animation have broadened adoption, but integrating the two remains difficult. Key challenges include placing humans at plausible locations and scales without interpenetration, aligning…
We present a dynamic subspace approach for efficiently approximating large-scale systems by learning time-continuous trajectories on the Grassmannian manifold. By parameterizing a low-dimensional basis as a geodesic path, the method allows…
The incredible feats of athleticism demonstrated by humans are made possible in part by a vast repertoire of general-purpose motor skills, acquired through years of practice and experience. These skills not only enable humans to perform…
Physics-based character animation has become a fundamental approach for synthesizing realistic, physically plausible motions. While current data-driven deep reinforcement learning (DRL) methods can synthesize complex skills, they struggle…
Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation.…
Physics-based understanding of object interactions from sensory observations is an essential capability in augmented reality and robotics. It enables to capture the properties of a scene for simulation and control. In this paper, we propose…
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,…
A novel approach is presented for computing flexible body dynamics based on conventional structural dynamics models. This approach innovatively captures the rigid body motion component embedded within a flexible body's movement, generates…
The animation community has spent significant effort trying to ease rigging procedures. This is necessitated because the increasing availability of 3D data makes manual rigging infeasible. However, object animations involve understanding…
We propose a generative approach to physics-based motion capture. Unlike prior attempts to incorporate physics into tracking that assume the subject and scene geometry are calibrated and known a priori, our approach is automatic and online.…
Skeleton-based and cage-based deformation techniques represent the two most popular approaches to control real-time deformations of digital shapes and are, to a vast extent, complementary to one another. Despite their complementary roles,…
A general framework for performing event-driven simulations of systems with semi-flexible or rigid bodies interacting under impulsive torques and forces is outlined. Two different approaches are presented. In the first, the dynamics and…
Styled motion in-betweening is crucial for computer animation and gaming. However, existing methods typically encode motion styles by modeling whole-body motions, often overlooking the representation of individual body parts. This…
We present a versatile latent representation that enables physically simulated character to efficiently utilize motion priors. To build a powerful motion embedding that is shared across multiple tasks, the physics controller should employ…
A new approach for trajectory optimization of musculoskeletal dynamic models is introduced. The model combines rigid body and muscle dynamics described with a Hill-type model driven by neural control inputs. The objective is to find input…
In this work we present a novel, robust transition generation technique that can serve as a new tool for 3D animators, based on adversarial recurrent neural networks. The system synthesizes high-quality motions that use temporally-sparse…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
Fast and light-weight methods for animating 3D characters are desirable in various applications such as computer games. We present a learning-based approach to enhance skinning-based animations of 3D characters with vivid secondary motion…
Humans possess a remarkable ability to react to unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to maintain balance. Inspired by this behaviour, we propose a novel…