Related papers: Learned Neural Physics Simulation for Articulated …
The creation of lifelike human avatars capable of realistic pose variation and viewpoint flexibility remains a fundamental challenge in computer vision and graphics. Current approaches typically yield either geometrically inconsistent…
Manipulating unseen articulated objects through visual feedback is a critical but challenging task for real robots. Existing learning-based solutions mainly focus on visual affordance learning or other pre-trained visual models to guide…
We present a system that allows users to visualize complex human motion via 3D motion sculptures---a representation that conveys the 3D structure swept by a human body as it moves through space. Given an input video, our system computes the…
We propose a novel optimization-based paradigm for 3D human model fitting on images and scans. In contrast to existing approaches that directly regress the parameters of a low-dimensional statistical body model (e.g. SMPL) from input…
In this paper, we introduce a method to automatically reconstruct the 3D motion of a person interacting with an object from a single RGB video. Our method estimates the 3D poses of the person together with the object pose, the contact…
This paper addresses the problem of monocular 3D human shape and pose estimation from an RGB image. Despite great progress in this field in terms of pose prediction accuracy, state-of-the-art methods often predict inaccurate body shapes. We…
In various applications, such as virtual reality and gaming, simulating the deformation of soft tissues in the human body during interactions with external objects is essential. Traditionally, Finite Element Methods (FEM) have been employed…
Accurately simulating real world object dynamics is essential for various applications such as robotics, engineering, graphics, and design. To better capture complex real dynamics such as contact and friction, learned simulators based on…
This paper addresses the challenge of reconstructing an animatable human model from a multi-view video. Some recent works have proposed to decompose a non-rigidly deforming scene into a canonical neural radiance field and a set of…
3D human pose estimation from a single image is a challenging problem, especially for in-the-wild settings due to the lack of 3D annotated data. We propose two anatomically inspired loss functions and use them with a weakly-supervised…
Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…
This paper proposes an improved design of the perceptron unit to mitigate the vanishing gradient problem. This nuisance appears when training deep multilayer perceptron networks with bounded activation functions. The new neuron design,…
We introduce Large Language Model-Assisted Preference Prediction (LAPP), a novel framework for robot learning that enables efficient, customizable, and expressive behavior acquisition with minimum human effort. Unlike prior approaches that…
We present HSImul3R, a unified framework for simulation-ready 3D reconstruction of human-scene interactions (HSI) from casual captures, including sparse-view images and monocular videos. Existing methods suffer from a perception-simulation…
We address dynamic manipulation of deformable linear objects by presenting SPiD, a physics-informed self-supervised learning framework that couples an accurate deformable object model with an augmented self-supervised training strategy. On…
Here we present a machine learning framework and model implementation that can learn to simulate a wide variety of challenging physical domains, involving fluids, rigid solids, and deformable materials interacting with one another. Our…
A key challenge in the task of human pose and shape estimation is occlusion, including self-occlusions, object-human occlusions, and inter-person occlusions. The lack of diverse and accurate pose and shape training data becomes a major…
Reconstructing 3D human-object interaction (HOI) from single-view RGB images is challenging due to the absence of depth information and potential occlusions. Existing methods simply predict the body poses merely rely on network training on…
We present a novel learning framework to solve the transport-and-packing (TAP) problem in 3D. It constitutes a full solution pipeline from partial observations of input objects via RGBD sensing and recognition to final box placement, via…
Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the…