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Human motion synthesis is a long-standing problem with various applications in digital twins and the Metaverse. However, modern deep learning based motion synthesis approaches barely consider the physical plausibility of synthesized motions…

Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…

Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using…

Accurate whole-body multi-person pose estimation and tracking is an important yet challenging topic in computer vision. To capture the subtle actions of humans for complex behavior analysis, whole-body pose estimation including the face,…

We present a new method to capture detailed human motion, sampling more than 1000 unique points on the body. Our method outputs highly accurate 4D (spatio-temporal) point coordinates and, crucially, automatically assigns a unique label to…

This paper introduces a SSSUMO, semi-supervised deep learning approach for submovement decomposition that achieves state-of-the-art accuracy and speed. While submovement analysis offers valuable insights into motor control, existing methods…

Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel…

Estimating 3D full-body pose from sparse sensor data is a pivotal technique employed for the reconstruction of realistic human motions in Augmented Reality and Virtual Reality. However, translating sparse sensor signals into comprehensive…

We introduce DiffPhy, a differentiable physics-based model for articulated 3d human motion reconstruction from video. Applications of physics-based reasoning in human motion analysis have so far been limited, both by the complexity of…

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…

Reshaping accurate and realistic 3D human bodies from anthropometric parameters (e.g., height, chest size, etc.) poses a fundamental challenge for person identification, online shopping and virtual reality. Existing approaches for creating…

Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…

Broader access to high-quality movement analysis could greatly benefit movement science and rehabilitation, such as allowing more detailed characterization of movement impairments and responses to interventions, or even enabling early…

Generating videos of complex human motions such as flips, cartwheels, and martial arts remains challenging for current video diffusion models. Text-only conditioning is temporally ambiguous for fine-grained motion control, while explicit…

The human neuromuscular system consisting of skeletal muscles and neural circuits is a complex system that is not yet fully understood. Surface electromyography (EMG) can be used to study muscle behavior from the outside. Computer…

We present SoftSMPL, a learning-based method to model realistic soft-tissue dynamics as a function of body shape and motion. Datasets to learn such task are scarce and expensive to generate, which makes training models prone to overfitting.…

3D Human Body Reconstruction from a monocular image is an important problem in computer vision with applications in virtual and augmented reality platforms, animation industry, en-commerce domain, etc. While several of the existing works…

Animating an avatar that reflects a user's action in the VR world enables natural interactions with the virtual environment. It has the potential to allow remote users to communicate and collaborate in a way as if they met in person.…

Whole-body pose and shape estimation aims to jointly predict different behaviors (e.g., pose, hand gesture, facial expression) of the entire human body from a monocular image. Existing methods often exhibit degraded performance under the…

Despite decades of study, many unknowns exist about the mechanisms governing human locomotion. Current models and motor control theories can only partially capture the phenomenon. This may be a major cause of the reduced efficacy of lower…