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We present a modular framework for articulatory animation synthesis using speech motion capture data obtained with electromagnetic articulography (EMA). Adapting a skeletal animation approach, the articulatory motion data is applied to a…

Physical modeling method, represented by simulation and visualization of the principles in physics, is introduced in the shape extraction of the active contours. The objectives of adopting this concept are to address the several major…

Teaching an anthropomorphic robot from human example offers the opportunity to impart humanlike qualities on its movement. In this work we present a reinforcement learning based method for teaching a real world bipedal robot to perform…

Photorealistic telepresence requires both high-fidelity body modeling and faithful driving to enable dynamically synthesized appearance that is indistinguishable from reality. In this work, we propose an end-to-end framework that addresses…

Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…

Generalizing motion representation across diverse characters remains challenging due to significant topological variations in skeletal structures across datasets and species, which hinder the development of scalable generative models. To…

We propose a two-stage framework for motion in-betweening that combines diffusion-based motion generation with physics-based character adaptation. In Stage 1, a character-agnostic diffusion model synthesizes transitions from sparse…

Recent advances in digital avatar technology have enabled the generation of compelling virtual characters, but deploying these avatars on compute-constrained devices poses significant challenges for achieving realistic garment deformations.…

The design of adaptive structures is one method to improve sustainability of buildings. Adaptive structures are able to adapt to different loading and environmental conditions or to changing requirements by either small or large shape…

Realistic dynamic garments on animated characters have many AR/VR applications. While authoring such dynamic garment geometry is still a challenging task, data-driven simulation provides an attractive alternative, especially if it can be…

Modeling the dynamic behavior of deformable objects is crucial for creating realistic digital worlds. While conventional simulations produce high-quality motions, their computational costs are often prohibitive. Subspace simulation…

Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…

Commonly used linear and nonlinear constitutive material models in deformation simulation contain many simplifications and only cover a tiny part of possible material behavior. In this work we propose a framework for learning customized…

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…

Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…

We present a probabilistic framework to generate character animations based on weak control signals, such that the synthesized motions are realistic while retaining the stochastic nature of human movement. The proposed architecture, which…

Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…

This paper proposes the Transition Motion Tensor, a data-driven framework that creates novel and physically accurate transitions outside of the motion dataset. It enables simulated characters to adopt new motion skills efficiently and…

Generating motion for arbitrary skeletons is a longstanding challenge in computer graphics, remaining largely unexplored due to the scarcity of diverse datasets and the irregular nature of the data. In this work, we introduce AnyTop, a…

We use a recently developed action principle in spaces with curvature and torsion to derive the Euler equations of motion for a rigid body within the body-fixed coordinate system. This serves as an example that the particle trajectories in…