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Multi-contact motion is important for humanoid robots to work in various environments. We propose a centroidal online trajectory generation and stabilization control for humanoid dynamic multi-contact motion. The proposed method features…
We have recently seen tremendous progress in realistic text-to-motion generation. Yet, the existing methods often fail or produce implausible motions with unseen text inputs, which limits the applications. In this paper, we present OMG, a…
We present CompoSuite, an open-source simulated robotic manipulation benchmark for compositional multi-task reinforcement learning (RL). Each CompoSuite task requires a particular robot arm to manipulate one individual object to achieve a…
Virtual musicians have become a remarkable phenomenon in the contemporary multimedia arts. However, most of the virtual musicians nowadays have not been endowed with abilities to create their own behaviors, or to perform music with human…
Dexterous prosthetic hands have better grasp performance than traditional ones. However, patients still find it difficult to use these hands without a suitable control system. A new hybrid myoelectric control system, termed i-MYO, is…
Movement coordination in human ensembles has been studied little in the current literature. In the existing experimental works, situations where all subjects are connected with each other through direct visual and auditory coupling, and…
Individuals who use myoelectric upper-limb prostheses often rely heavily on vision to complete their daily activities. They thus struggle in situations where vision is overloaded, such as multitasking, or unavailable, such as poor lighting…
We present a framework for real-time human-AI musical co-performance, in which a latent diffusion model generates instrumental accompaniment in response to a live stream of context audio. The system combines a MAX/MSP front-end-handling…
We present an approach for constructing dynamic models for the simulation of gene regulatory networks from simple computational elements. Each element is called a ``gene gate'' and defines an input/output-relationship corresponding to the…
Existing video generation models predominantly emphasize appearance fidelity while exhibiting limited ability to synthesize complex human motions, such as whole-body movements, long-range dynamics, and fine-grained human-environment…
This paper reviews the existing literature on input device evaluation and design in human-computer interaction (HCI) and discusses possible applications of this knowledge to the design and evaluation of new interfaces for musical…
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…
We designed a modular robotic control stack that provides a customizable and accessible interface to the Franka Emika Panda Research robot. This framework abstracts high-level robot control commands as skills, which are decomposed into…
Music composition has long been recognized as a significant art form. However, existing digital audio workstations and music production software often present high entry barriers for users lacking formal musical training. To address this,…
Reo, an exogenous channel-based coordination language, is a model for service coordination wherein services communicate through connectors formed by joining binary communication channels. In order to establish transactional communication…
Though CLIP-based prompt tuning significantly enhances pre-trained Vision-Language Models, existing research focuses on reconstructing the model architecture, e.g., additional loss calculation and meta-networks. These approaches generally…
In this paper, we introduce Foley Music, a system that can synthesize plausible music for a silent video clip about people playing musical instruments. We first identify two key intermediate representations for a successful video to music…
Generating realistic dyadic human motion from text descriptions presents significant challenges, particularly for extended interactions that exceed typical training sequence lengths. While recent transformer-based approaches have shown…
High-quality driving video generation is crucial for providing training data for autonomous driving models. However, current generative models rarely focus on enhancing camera motion control under multi-view tasks, which is essential for…
Generating motion sequences conforming to a target style while adhering to the given content prompts requires accommodating both the content and style. In existing methods, the information usually only flows from style to content, which may…