Related papers: Real-Time Character Inverse Kinematics using the G…

The incredible feats of athleticism demonstrated by humans are made possible in part by a vast repertoire of general-purpose motor skills, acquired through years of practice and experience. These skills not only enable humans to perform…

In this paper, we propose to create animatable avatars for interacting hands with 3D Gaussian Splatting (GS) and single-image inputs. Existing GS-based methods designed for single subjects often yield unsatisfactory results due to limited…

We show how to compute globally optimal solutions to inverse kinematics (IK) by formulating the problem as an indefinite quadratically constrained quadratic program. Our approach makes it feasible to solve IK instances of generic redundant…

Near kinematic singularities of a serial manipulator, the inverse kinematics (IK) problem becomes ill-conditioned, which poses computational problems for the numerical solution. Computational methods to tackle this issue are based on…

Here, we present an end-to-end method to create 2D animation for a goalkeeper attempting to block a penalty kick, and then correct that motion using an iterative nonlinear optimization scheme. The input is a raw video that is fed into pose…

Reconstructing dynamic scenes from video sequences is a highly promising task in the multimedia domain. While previous methods have made progress, they often struggle with slow rendering and managing temporal complexities such as…

We propose a method to enhance 3D Gaussian Splatting (3DGS)~\cite{Kerbl2023}, addressing challenges in initialization, optimization, and density control. Gaussian Splatting is an alternative for rendering realistic images while supporting…

Representing and rendering dynamic scenes has been an important but challenging task. Especially, to accurately model complex motions, high efficiency is usually hard to guarantee. To achieve real-time dynamic scene rendering while also…

Reconstructing a high-quality, animatable 3D human avatar with expressive facial and hand motions from a single image has gained significant attention due to its broad application potential. 3D human avatar reconstruction typically requires…

We present a novel approach to accelerate iterative methods to solve nonlinear Schr\"odinger eigenvalue problems using neural networks. Nonlinear eigenvector problems are fundamental in quantum mechanics and other fields, yet conventional…

3D Gaussian Splatting has shown fast and high-quality rendering results in static scenes by leveraging dense 3D prior and explicit representations. Unfortunately, the benefits of the prior and representation do not involve novel view…

Efficient skill acquisition, representation, and on-line adaptation to different scenarios has become of fundamental importance for assistive robotic applications. In the past decade, dynamical systems (DS) have arisen as a flexible and…

We address the problem of epipolar geometry using the motion of silhouettes. Such methods match epipolar lines or frontier points across views, which are then used as the set of putative correspondences. We introduce an approach that…

Inverse kinematics (IK) is a core operation in animation, robotics, and biomechanics: given Cartesian constraints, recover joint rotations under a known kinematic tree. In many real-time human avatar pipelines, the available signal per…

Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…

Inverse problems are in many cases solved with optimization techniques. When the underlying model is linear, first-order gradient methods are usually sufficient. With nonlinear models, due to nonconvexity, one must often resort to…

We present a framework for accelerating a spectrum of machine learning algorithms that require computation of bilinear inverse forms $u^\top A^{-1}u$, where $A$ is a positive definite matrix and $u$ a given vector. Our framework is built on…

This research paper addresses the problem of generating involuntary and precise animation of quadrupeds with automatic rigging system of various character types. The technique proposed through this research is based on a two tier animation…

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for…

Character image animation, which generates high-quality videos from a reference image and target pose sequence, has seen significant progress in recent years. However, most existing methods only apply to human figures, which usually do not…