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Synthesizing 3D human avatars interacting realistically with a scene is an important problem with applications in AR/VR, video games and robotics. Towards this goal, we address the task of generating a virtual human -- hands and full body…
Great progress has been made in estimating 3D human pose and shape from images and video by training neural networks to directly regress the parameters of parametric human models like SMPL. However, existing body models have simplified…
An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…
This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleoperation systems often suffer from limited portability,…
Computer models of humans are ubiquitous throughout computer animation and computer vision. However, these models rarely represent the dynamics of human motion, as this requires adding a complex layer that solves body motion in response to…
Understanding human motion beyond surface kinematics is crucial for motion analysis, rehabilitation, and injury risk assessment. However, progress in this domain is limited by the lack of large-scale datasets with biomechanical annotations,…
We present an end-to-end virtual try-on pipeline, that can fit different clothes on a personalized 3-D human model, reconstructed using a single RGB image. Our main idea is to construct an animatable 3-D human model and try-on different…
Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics and often suffer from robustness issues. In this letter, we…
Accurate and reliable human motion reconstruction is crucial for creating natural interactions of full-body avatars in Virtual Reality (VR) and entertainment applications. As the Metaverse and social applications gain popularity, users are…
We present a simple yet effective method to infer detailed full human body shape from only a single photograph. Our model can infer full-body shape including face, hair, and clothing including wrinkles at interactive frame-rates. Results…
Parametric body models offer expressive 3D representation of humans across a wide range of poses, shapes, and facial expressions, typically derived by learning a basis over registered 3D meshes. However, existing human mesh modeling…
Constructing and animating humans is an important component for building virtual worlds in a wide variety of applications such as virtual reality or robotics testing in simulation. As there are exponentially many variations of humans with…
The possibility of simulating in detail in-vivo experiments could be highly beneficial to the neuroscientific community. It could easily allow for preliminary testing of different experimental conditions without having to be constrained by…
Recent advances in garment simulation have brought high-quality results closer to real-time performance. Physics-based simulators can produce accurate motion, but remain too computationally expensive for interactive applications. In…
We propose the Medial Skeletal Diagram, a novel skeletal representation that tackles the prevailing issues around skeleton sparsity and reconstruction accuracy in existing skeletal representations. Our approach augments the continuous…
Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…
This paper presents a novel framework to recover detailed human body shapes from a single image. It is a challenging task due to factors such as variations in human shapes, body poses, and viewpoints. Prior methods typically attempt to…
Internal computational models of physical bodies are fundamental to the ability of robots and animals alike to plan and control their actions. These "self-models" allow robots to consider outcomes of multiple possible future actions,…
We introduce HuMoR: a 3D Human Motion Model for Robust Estimation of temporal pose and shape. Though substantial progress has been made in estimating 3D human motion and shape from dynamic observations, recovering plausible pose sequences…
While reconstructing human poses in 3D from inexpensive sensors has advanced significantly in recent years, quantifying the dynamics of human motion, including the muscle-generated joint torques and external forces, remains a challenge.…