Related papers: From Universal Humanoid Control to Automatic Physi…
Achieving autonomous and versatile whole-body loco-manipulation remains a central barrier to making humanoids practically useful. Yet existing approaches are fundamentally constrained: retargeted data are often scarce or low-quality;…
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…
Learning versatile whole-body skills by tracking various human motions is a fundamental step toward general-purpose humanoid robots. This task is particularly challenging because a single policy must master a broad repertoire of motion…
Recent advances in learning reusable motion priors have demonstrated their effectiveness in generating naturalistic behaviors. In this paper, we propose a new learning framework in this paradigm for controlling physics-based characters with…
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…
Humanoid robots have the promise of locomoting like humans, including fast and dynamic running. Recently, reinforcement learning (RL) controllers that can mimic human motions have become popular as they can generate very dynamic behaviors,…
Authoring an appealing animation for a virtual character is a challenging task. In computer-aided keyframe animation artists define the key poses of a character by manipulating its underlying skeletons. To look plausible, a character pose…
Unsupervised generation of clothed virtual humans with various appearance and animatable poses is important for creating 3D human avatars and other AR/VR applications. Existing methods are either limited to rigid object modeling, or not…
Recent advancements in character video synthesis still depend on extensive fine-tuning or complex 3D modeling processes, which can restrict accessibility and hinder real-time applicability. To address these challenges, we propose a simple…
Reconstructing physically plausible human motion from monocular videos remains a challenging problem in computer vision and graphics. Existing methods primarily focus on kinematics-based pose estimation, often leading to unrealistic results…
Video-based human motion transfer creates video animations of humans following a source motion. Current methods show remarkable results for tightly-clad subjects. However, the lack of temporally consistent handling of plausible clothing…
Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics and often suffer from robustness issues. In this letter, we…
The field has made significant progress in synthesizing realistic human motion driven by various modalities. Yet, the need for different methods to animate various body parts according to different control signals limits the scalability of…
Purpose of Review: As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available…
We introduce SimAvatar, a framework designed to generate simulation-ready clothed 3D human avatars from a text prompt. Current text-driven human avatar generation methods either model hair, clothing, and the human body using a unified…
The standardized sizes used in the garment industry do not cover the range of individual differences in body shape for most people, leading to ill-fitting clothes, high return rates and overproduction. Recent research efforts in both…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
In this paper, we explore spatial-aware humanoid whole-body manipulation task. Compared with tabletop settings, this task poses two key challenges: 1) Spatial understanding is challenging in complex 3D environments with diverse spatial…
This work addresses the problem of generating 3D holistic body motions from human speech. Given a speech recording, we synthesize sequences of 3D body poses, hand gestures, and facial expressions that are realistic and diverse. To achieve…
Generating videos of complex human motions such as flips, cartwheels, and martial arts remains challenging for current video diffusion models. Text-only conditioning is temporally ambiguous for fine-grained motion control, while explicit…