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Styled online in-between motion generation has important application scenarios in computer animation and games. Its core challenge lies in the need to satisfy four critical requirements simultaneously: generation speed, motion quality,…
We revisit human motion synthesis, a task useful in various real world applications, in this paper. Whereas a number of methods have been developed previously for this task, they are often limited in two aspects: focusing on the poses while…
Human motion prediction is a fundamental part of many human-robot applications. Despite the recent progress in human motion prediction, most studies simplify the problem by predicting the human motion relative to a fixed joint and/or only…
The inherent uncertainty of dynamic environments poses significant challenges for modeling robot behavior, particularly in tasks such as collision avoidance. This paper presents an online controller synthesis framework tailored for robots…
Human Interaction Recognition is the process of identifying interactive actions between multiple participants in a specific situation. The aim is to recognise the action interactions between multiple entities and their meaning. Many single…
Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
Parallel robots are capable of high-speed manipulation and have become essential tools in the industry. The proximal placement of their motors and the low weight of their end effectors make them ideal for generating highly dynamic motion.…
Generating accurate and efficient predictions for the motion of the humans present in the scene is key to the development of effective motion planning algorithms for robots moving in promiscuous areas, where wrong planning decisions could…
Markerless motion capture has become an active field of research in computer vision in recent years. Its extensive applications are known in a great variety of fields, including computer animation, human motion analysis, biomedical…
We present a simple yet effective method for skeleton-free motion retargeting. Previous methods transfer motion between high-resolution meshes, failing to preserve the inherent local-part motions in the mesh. Addressing this issue, our…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Accurate geometry representation is essential in developing finite element models. Although generally good, deep-learning segmentation approaches with only few data have difficulties in accurately segmenting fine features, e.g., gaps and…
This paper investigates body bones from skeleton data for skeleton based action recognition. Body joints, as the direct result of mature pose estimation technologies, are always the key concerns of traditional action recognition methods.…
Skeleton-based action recognition aims to recognize human actions given human joint coordinates with skeletal interconnections. By defining a graph with joints as vertices and their natural connections as edges, previous works successfully…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
Current dynamic networks and dynamic pruning methods have shown their promising capability in reducing theoretical computation complexity. However, dynamic sparse patterns on convolutional filters fail to achieve actual acceleration in…
Close and continuous interaction with rich contacts is a crucial aspect of human activities (e.g. hugging, dancing) and of interest in many domains like activity recognition, motion prediction, character animation, etc. However, acquiring…
It is now possible to reconstruct dynamic human motion and shape from a sparse set of cameras using Neural Radiance Fields (NeRF) driven by an underlying skeleton. However, a challenge remains to model the deformation of cloth and skin in…
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…