Related papers: SwarmPaint: Human-Swarm Interaction for Trajectory…

Designing robotic assistance devices for manipulation tasks is challenging. This work is concerned with improving accuracy and usability of semi-autonomous robots, such as human operated manipulators or exoskeletons. The key insight is to…

Insect swarms are common phenomena in nature and therefore have been actively pursued in computer animation. Realistic insect swarm simulation is difficult due to two challenges: high-fidelity behaviors and large scales, which make the…

The intelligent swarm behavior of social insects (such as ants) springs up in different environments, promising to provide insights for the study of embodied intelligence. Researching swarm behavior requires that researchers could…

Demystifying complex human-ground interactions is essential for accurate and realistic 3D human motion reconstruction from RGB videos, as it ensures consistency between the humans and the ground plane. Prior methods have modeled…

We consider the problem of understanding the coordinated movements of biological or artificial swarms. In this regard, we propose a learning scheme to estimate the coordination laws of the interacting agents from observations of the swarm's…

Trajectory-controlled human motion generation aims to synthesize realistic human motions conditioned on both textual descriptions and spatial trajectories. However, existing methods suffer from two critical limitations: first, the conflict…

Robot swarms often exhibit emergent behaviors that are fascinating to observe; however, it is often difficult to predict what swarm behaviors can emerge under a given set of agent capabilities. We seek to efficiently leverage human input to…

As robots across domains start collaborating with humans in shared environments, algorithms that enable them to reason over human intent are important to achieve safe interplay. In our work, we study human intent through the problem of…

Conventional tracking solutions are not feasible in handling abrupt motion as they are based on smooth motion assumption or an accurate motion model. Abrupt motion is not subject to motion continuity and smoothness. To assuage this, we deem…

Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties…

Multi-fingered hands are emerging as powerful platforms for performing fine manipulation tasks, including tool use. However, environmental perturbations or execution errors can impede task performance, motivating the use of recovery…

Coordinated flight of multiple drones allows to achieve tasks faster such as search and rescue and infrastructure inspection. Thus, pushing the state-of-the-art of aerial swarms in navigation speed and robustness is of tremendous benefit.…

We address the challenging task of human reaction generation, which aims to generate a corresponding reaction based on an input action. Most of the existing works do not focus on generating and predicting the reaction and cannot generate…

3D human interaction generation has emerged as a key research area, focusing on producing dynamic and contextually relevant interactions between humans and various interactive entities. Recent rapid advancements in 3D model representation…

In this paper, a method for a cooperative trajectory planning between a human and an automation is extended by a behavioral model of the human. This model can characterize the stubbornness of the human, which measures how strong the human…

In this work, we propose a training-free, trajectory-based controllable T2I approach, termed TraDiffusion. This novel method allows users to effortlessly guide image generation via mouse trajectories. To achieve precise control, we design a…

Swarm robotic systems are systems in which multiple robots having simple functionality perform tasks through their cooperation, and are advantageous in that they can exhibit non-trivial macroscopic functions such as adaptability, fault…

We have recently seen tremendous progress in diffusion advances for generating realistic human motions. Yet, they largely disregard the multi-human interactions. In this paper, we present InterGen, an effective diffusion-based approach that…

Text-driven multi-human motion generation with complex interactions remains a challenging problem. Despite progress in performance, existing offline methods that generate fixed-length motions with a fixed number of agents, are inherently…

In this paper, we present an approach for dynamic exploration and mapping of unknown environments using a swarm of biobotic sensing agents, with a stochastic natural motion model and a leading agent (e.g., an unmanned aerial vehicle). The…