Related papers: Complementary Dynamics
Design-space dimensionality reduction is essential to mitigate the cost of high-fidelity simulation-based optimization, especially when dealing with high-dimensional geometric parameterizations. Traditional linear techniques, such as…
We introduce Temporal Residual Jacobians as a novel representation to enable data-driven motion transfer. Our approach does not assume access to any rigging or intermediate shape keyframes, produces geometrically and temporally consistent…
Manipulating volumetric deformable objects in the real world, like plush toys and pizza dough, bring substantial challenges due to infinite shape variations, non-rigid motions, and partial observability. We introduce ACID, an…
Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highly damped environments, connecting a prescribed shape change…
From the complex motions of robots to the oxygen binding of hemoglobin, the function of many mechanical systems depends on large, coordinated movements of their components. Such movements arise from a network of physical interactions in the…
Humans excel in navigating diverse, complex environments with agile motor skills, exemplified by parkour practitioners performing dynamic maneuvers, such as climbing up walls and jumping across gaps. Reproducing these agile movements with…
Video Diffusion Models (VDMs) offer a promising approach for simulating dynamic scenes and environments, with broad applications in robotics and media generation. However, existing models often generate temporally incoherent content that…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
Despite significant progress in 4D generation, rig and motion, the core structural and dynamic components of animation are typically modeled as separate problems. Existing pipelines rely on ground-truth skeletons and skinning weights for…
Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and…
Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in…
Motion mimicking is a foundational task in physics-based character animation. However, most existing motion mimicking methods are built upon reinforcement learning (RL) and suffer from heavy reward engineering, high variance, and slow…
We consider the Regge-Teitelboim model for a relativistic extended object embedded in a fixed background Minkowski spacetime, in which the dynamics is determined by an action proportional to the integral of the scalar curvature of the…
In recent years, reinforcement learning (RL) has shown outstanding performance for locomotion control of highly articulated robotic systems. Such approaches typically involve tedious reward function tuning to achieve the desired motion…
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…
While current general-purpose 3D human models (e.g., SMPL-X) efficiently represent accurate human shape and pose, they lacks the ability to physically interact with the environment due to the kinematic nature. As a result, kinematic-based…
This paper presents a method which can track and 3D reconstruct the non-rigid surface motion of human performance using a moving RGB-D camera. 3D reconstruction of marker-less human performance is a challenging problem due to the large…
This paper proposes a novel alternative to existing sim-to-real methods for training control policies with simulated experiences. Prior sim-to-real methods for legged robots mostly rely on the domain randomization approach, where a fixed…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
Mathematically representing the shape of an object is a key ingredient for solving inverse rendering problems. Explicit representations like meshes are efficient to render in a differentiable fashion but have difficulties handling topology…