Related papers: From Universal Humanoid Control to Automatic Physi…
One of the important advantages of musculoskeletal humanoids is that the muscle arrangement can be easily changed and the number of muscles can be increased according to the situation. In this study, we describe an overall system of muscle…
While recent advances in humanoid locomotion have achieved stable walking on varied terrains, capturing the agility and adaptivity of highly dynamic human motions remains an open challenge. In particular, agile parkour in complex…
How can we teach humanoids to climb staircases and sit on chairs using the surrounding environment context? Arguably, the simplest way is to just show them-casually capture a human motion video and feed it to humanoids. We introduce…
Humanoid robots are drawing significant attention as versatile platforms for complex motor control, human-robot interaction, and general-purpose physical intelligence. However, achieving efficient whole-body control (WBC) in humanoids…
Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to…
Recent advancements in controllable human image generation have led to zero-shot generation using structural signals (e.g., pose, depth) or facial appearance. Yet, generating human images conditioned on multiple parts of human appearance…
Human motion synthesis is a long-standing problem with various applications in digital twins and the Metaverse. However, modern deep learning based motion synthesis approaches barely consider the physical plausibility of synthesized motions…
Generating sequences of human-like motions for humanoid robots presents challenges in collecting and analyzing reference human motions, synthesizing new motions based on these reference motions, and mapping the generated motion onto…
Character image animation, which synthesizes videos of reference characters driven by pose sequences, has advanced rapidly but remains largely limited to single-human settings. Existing methods struggle to generalize to multi-humanoid…
Constructing and animating humans is an important component for building virtual worlds in a wide variety of applications such as virtual reality or robotics testing in simulation. As there are exponentially many variations of humans with…
The field of physics-based animation is gaining importance due to the increasing demand for realism in video games and films, and has recently seen wide adoption of data-driven techniques, such as deep reinforcement learning (RL), which…
In recent years, there has been significant interest in creating 3D avatars and motions, driven by their diverse applications in areas like film-making, video games, AR/VR, and human-robot interaction. However, current efforts primarily…
In the approximately century-long journey of robotics, humanoid robots made their debut around six decades ago. While current humanoids bear human-like appearances, none have embodied true humaneness, remaining distant from achieving…
Balancing and push-recovery are essential capabilities enabling humanoid robots to solve complex locomotion tasks. In this context, classical control systems tend to be based on simplified physical models and hard-coded strategies. Although…
Robots are increasingly expected to execute open ended natural language requests in human environments, which demands reliable long horizon execution under partial observability. This is especially challenging for humanoids because…
Virtual Humans (VHs) were first developed more than 50 years ago and have undergone significant advancements since then. In the past, creating and animating VHs was a complex task. However, contemporary commercial and freely available…
This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we…
Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focus on the ability of humanoid robots to navigate and deal…
The ongoing deep learning revolution has allowed computers to outclass humans in various games and perceive features imperceptible to humans during classification tasks. Current machine learning techniques have clearly distinguished…
The automatic design of robots has existed for 30 years but has been constricted by serial non-differentiable design evaluations, premature convergence to simple bodies or clumsy behaviors, and a lack of sim2real transfer to physical…