Related papers: Real-Time Character Inverse Kinematics using the G…
Inverse kinematics - finding joint poses that reach a given Cartesian-space end-effector pose - is a common operation in robotics, since goals and waypoints are typically defined in Cartesian space, but robots must be controlled in joint…
Recent advancements in Gaussian-based human body reconstruction have achieved notable success in creating animatable avatars. However, there are ongoing challenges to fully exploit the SMPL model's prior knowledge and enhance the visual…
Fast and light-weight methods for animating 3D characters are desirable in various applications such as computer games. We present a learning-based approach to enhance skinning-based animations of 3D characters with vivid secondary motion…
This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be decomposed into simpler kinematic and centroidal dynamic…
Virtual character animation and movement synthesis have advanced rapidly during recent years, especially through a combination of extensive motion capture datasets and machine learning. A remaining challenge is interactively simulating…
The emergence of neural rendering has significantly advanced the rendering quality of 3D human avatars, with the recently popular 3DGS technique enabling real-time performance. However, SMPL-driven 3DGS human avatars still struggle to…
Facial animation is one of the most challenging problems in computer graphics, and it is often solved using linear heuristics like blend-shape rigging. More expressive approaches like physical simulation have emerged, but these methods are…
This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present…
This paper presents an uncomplicated dynamic controller for generating physically-plausible three-dimensional full-body biped character rise motions on-the-fly at run-time. Our low-dimensional controller uses fundamental reference…
High-quality, animatable 3D human avatar reconstruction from monocular videos offers significant potential for reducing reliance on complex hardware, making it highly practical for applications in game development, augmented reality, and…
Efficient and accurate reconstruction of a relightable, dynamic clothed human avatar from a monocular video is crucial for the entertainment industry. This paper presents SGIA (Surfel-based Gaussian Inverse Avatar), which introduces…
Inverse kinematics is a fundamental problem for articulated robots: fast and accurate algorithms are needed for translating task-related workspace constraints and goals into feasible joint configurations. In general, inverse kinematics for…
We present a novel and efficient method for fitting dynamical models of stellar kinematic data in dwarf spheroidal galaxies (dSph). Our approach is based on Gaussian-process emulation (GPE), which is a sophisticated form of curve fitting…
Dynamic grasping of moving objects in complex, continuous motion scenarios remains challenging. Reinforcement Learning (RL) has been applied in various robotic manipulation tasks, benefiting from its closed-loop property. However, existing…
We present a simple and intuitive approach for interactive control of physically simulated characters. Our work builds upon generative adversarial networks (GAN) and reinforcement learning, and introduces an imitation learning framework…
Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy constraints on the position or pose of one or more end-effectors. For robots with redundant degrees of freedom, there is often an infinite, nonconvex…
Gaussian Splatting has changed the game for real-time photo-realistic rendering. One of the most popular applications of Gaussian Splatting is to create animatable avatars, known as Gaussian Avatars. Recent works have pushed the boundaries…
We present a novel framework for animating humans in 3D scenes using 3D Gaussian Splatting (3DGS), a neural scene representation that has recently achieved state-of-the-art photorealistic results for novel-view synthesis but remains…
The generation of high-fidelity, animatable 3D human avatars remains a core challenge in computer graphics and vision, with applications in VR, telepresence, and entertainment. Existing approaches based on implicit representations like…
Simulating realistic interaction and motions for physics-based characters is of great interest for interactive applications, and automatic secondary character animation in the movie and video game industries. Recent works in reinforcement…