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We have recently seen great progress in 3D scene reconstruction through explicit point-based 3D Gaussian Splatting (3DGS), notable for its high quality and fast rendering speed. However, reconstructing dynamic scenes such as complex human…
We present a novel approach for photorealistic robot simulation that integrates 3D Gaussian Splatting as a drop-in renderer within vectorized physics simulators such as IsaacGym. This enables unprecedented speed -- exceeding 100,000 steps…
Markerless motion capture enables the tracking of human motion without requiring physical markers or suits, offering increased flexibility and reduced costs compared to traditional systems. However, these advantages often come at the…
Realistic animatable human avatars from monocular videos are crucial for advancing human-robot interaction and enhancing immersive virtual experiences. While recent research on 3DGS-based human avatars has made progress, it still struggles…
Retargeting motion across characters with varying body shapes while preserving interaction semantics, such as self-contact and near-body proximity, remains a challenging problem. While recent geometry-aware approaches address this by…
This paper deals with speeding up the convergence of a class of two-step iterative methods for solving linear systems of equations. To implement the acceleration technique, the residual norm associated with computed approximations for each…
In inertial motion capture, a multitude of body segments are equipped with inertial sensors, consisting of 3D accelerometers and 3D gyroscopes. Using an optimization-based approach to solve the motion capture problem allows for natural…
Implicit Neural Representation (INR) has demonstrated remarkable advances in the field of image representation but demands substantial GPU resources. GaussianImage recently pioneered the use of Gaussian Splatting to mitigate this cost,…
In this article, we will formulate a mathematical framework that allows us to treat character animations as points on infinite dimensional Hilbert manifolds. Constructing geodesic paths between animations on those manifolds allows us to…
Calculating the inverse kinematics (IK) is a fundamental challenge in robotics. Compared to numerical or learning-based approaches, analytical IK provides higher efficiency and accuracy. However, existing analytical approaches are difficult…
This paper proposes a receding horizon active learning and control problem for dynamical systems in which Gaussian Processes (GPs) are utilized to model the system dynamics. The active learning objective in the optimization problem is…
We present new algorithms for inverse reinforcement learning (IRL, or inverse optimal control) in convex optimization settings. We argue that finite-space IRL can be posed as a convex quadratic program under a Bayesian inference framework…
We present Instant Skinned Gaussian Avatars, a real-time and cross-platform 3D avatar system. Many approaches have been proposed to animate Gaussian Splatting, but they often require camera arrays, long preprocessing times, or high-end…
Creating relightable and animatable avatars from multi-view or monocular videos is a challenging task for digital human creation and virtual reality applications. Previous methods rely on neural radiance fields or ray tracing, resulting in…
The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…
Real-time animation of virtual characters has traditionally been accomplished by playing short sequences of animations structured in the form of a graph. These methods are time-consuming to set up and scale poorly with the number of motions…
Conventional robots possess a limited understanding of their kinematics and are confined to preprogrammed tasks, hindering their ability to leverage tools efficiently. Driven by the essential components of tool usage - grasping the desired…
Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…
Photorealistic and controllable human avatars have gained popularity in the research community thanks to rapid advances in neural rendering, providing fast and realistic synthesis tools. However, a limitation of current solutions is the…
We develop a novel fast iterative moment method for the steady-state simulation of near-continuum flows, which are modeled by the high-order moment system derived from the Boltzmann-BGK equation. The fast convergence of the present method…