Related papers: Real-Time Character Inverse Kinematics using the G…
We present a novel approach for solving articulated inverse kinematic problems (e.g., character structures) by means of an iterative dual-quaternion and exponentialmapping approach. As dual-quaternions are a break from the norm and offer a…
With new advancements in interaction techniques, character animation also requires new methods, to support fields such as robotics, and VR/AR. Interactive characters in such fields are becoming driven by AI which opens up the possibility of…
Large-scale linear complementarity problems (LCPs) are repeatedly solved in interactive rigid-body simulations. The projected Gauss-Seidel method is often employed for LCPs, since it has advantages in computation time, numerical robustness,…
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for many robot manipulators. Existing numerical solvers are broadly applicable but typically only produce a single solution and rely on…
We introduce an approach that creates animatable human avatars from monocular videos using 3D Gaussian Splatting (3DGS). Existing methods based on neural radiance fields (NeRFs) achieve high-quality novel-view/novel-pose image synthesis but…
Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parametrized by joint angles, generating a complicated…
Gaussian splatting has emerged as a powerful 3D representation that harnesses the advantages of both explicit (mesh) and implicit (NeRF) 3D representations. In this paper, we seek to leverage Gaussian splatting to generate realistic…
This work addresses the problem of real-time rendering of photorealistic human body avatars learned from multi-view videos. While the classical approaches to model and render virtual humans generally use a textured mesh, recent research has…
This paper studies the effective convergence of iterative methods for solving convex minimization problems using block Gauss--Seidel algorithms. It investigates whether it is always possible to algorithmically terminate the iteration in…
Physics-based character animation has become a fundamental approach for synthesizing realistic, physically plausible motions. While current data-driven deep reinforcement learning (DRL) methods can synthesize complex skills, they struggle…
Real-time rendering of human head avatars is a cornerstone of many computer graphics applications, such as augmented reality, video games, and films, to name a few. Recent approaches address this challenge with computationally efficient…
Generating accurate and realistic virtual human movements in real-time is of high importance for a variety of applications in computer graphics, interactive virtual environments, robotics, and biomechanics. This paper introduces a novel…
We describe and demonstrate the potential of a new and very efficient method for simulating certain classes of modified gravity theories, such as the widely studied $f(R)$ gravity models. High resolution simulations for such models are…
In this paper, we introduce GaussianMotion, a novel human rendering model that generates fully animatable scenes aligned with textual descriptions using Gaussian Splatting. Although existing methods achieve reasonable text-to-3D generation…
Autonomous agents should coordinate effectively without prior knowledge of others' intents. While prior work has focused on intent inference, we address the inverse problem: how agents can strategically demonstrate their intents within…
Real-time rendering of high-fidelity and animatable avatars from monocular videos remains a challenging problem in computer vision and graphics. Over the past few years, the Neural Radiance Field (NeRF) has made significant progress in…
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for robotic manipulation. Existing numerical solvers typically produce a single solution only and rely on local search techniques to…
Real-time rendering of photorealistic and controllable human avatars stands as a cornerstone in Computer Vision and Graphics. While recent advances in neural implicit rendering have unlocked unprecedented photorealism for digital avatars,…
Generating animatable human avatars from a single image is essential for various digital human modeling applications. Existing 3D reconstruction methods often struggle to capture fine details in animatable models, while generative…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…