Related papers: Complementary Dynamics
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense,…
This research paper addresses the problem of generating involuntary and precise animation of quadrupeds with automatic rigging system of various character types. The technique proposed through this research is based on a two tier animation…
In this paper, we present an end-to-end pipeline for the creation of high-quality animatable volumetric video content of human performances. Going beyond the application of free-viewpoint volumetric video, we allow re-animation and…
This paper proposes a unified approach for dynamic modeling and simulations of general tensegrity structures with rigid bars and rigid bodies of arbitrary shapes. The natural coordinates are adopted as a non-minimal description in terms of…
Hand-drawn character animation is a vibrant field in computer graphics, presenting challenges in achieving geometric consistency while conveying expressive motion. Traditional skeletal animation methods maintain geometric consistency but…
Modern interactive applications increasingly demand dynamic 3D content, yet the transformation of static 3D models into animated assets constitutes a significant bottleneck in content creation pipelines. While recent advances in generative…
Designing robot morphologies and kinematics has traditionally relied on human intuition, with little systematic foundation. Motion-design co-optimization offers a promising path toward automation, but two major challenges remain: (i) the…
Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to…
Legged machines are becoming increasingly agile and adaptive but they have so far lacked the morphological diversity of legged animals, which have been rearranged and reshaped to fill millions of niches. Unlike their biological…
Non-rigid structure-from-motion (NRSfM) has so far been mostly studied for recovering 3D structure of a single non-rigid/deforming object. To handle the real world challenging multiple deforming objects scenarios, existing methods either…
Legged robots with closed-loop kinematic chains are increasingly prevalent due to their increased mobility and efficiency. Yet, most motion generation methods rely on serial-chain approximations, sidestepping their specific constraints and…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
Augmenting reinforcement learning with imitation learning is often hailed as a method by which to improve upon learning from scratch. However, most existing methods for integrating these two techniques are subject to several strong…
Neural reconstruction models for autonomous driving simulation have made significant strides in recent years, with dynamic models becoming increasingly prevalent. However, these models are typically limited to handling in-domain objects…
Growing demands in the semiconductor industry necessitate increasingly stringent requirements on throughput and positioning accuracy of lithographic equipment. Meeting these demands involves employing highly aggressive motion profiles,…
As interest grows in world models that predict future states from current observations and actions, accurately modeling part-level dynamics has become increasingly relevant for various applications. Existing approaches, such as…
We propose novel motion representations for animating articulated objects consisting of distinct parts. In a completely unsupervised manner, our method identifies object parts, tracks them in a driving video, and infers their motions by…
We present a novel volumetric animation generation framework to create new types of animations from raw 3D surface or point cloud sequence of captured real performances. The framework considers as input time incoherent 3D observations of a…
We introduce a data-driven method for learning the equations of motion of mechanical systems directly from position measurements, without requiring access to velocity data. This is particularly relevant in system identification tasks where…
This paper presents a novel approach to numerically describe the interactions between rigid bodies, with a special focus on robotic grasping. Some of the more common approaches used to address such issues rely on satisfaction of a set of…