Related papers: HumanRig: Learning Automatic Rigging for Humanoid …

Recent neural human representations can produce high-quality multi-view rendering but require using dense multi-view inputs and costly training. They are hence largely limited to static models as training each frame is infeasible. We…

Human pose estimation aims at localizing human anatomical keypoints or body parts in the input data (e.g., images, videos, or signals). It forms a crucial component in enabling machines to have an insightful understanding of the behaviors…

In recent years, we have seen an emergence of data-driven approaches in robotics. However, most existing efforts and datasets are either in simulation or focus on a single task in isolation such as grasping, pushing or poking. In order to…

Free-form bones, that conform closely to the surface, can effectively capture non-rigid deformations, but lack a kinematic structure necessary for intuitive control. Thus, we propose a Scaffold-Skin Rigging System, termed "Skelebones", with…

Motion generation is a cornerstone of computer graphics, animation, gaming, and robotics, enabling the creation of realistic and varied character movements. A significant limitation of existing methods is their reliance on specific skeletal…

Designing robot morphologies and kinematics has traditionally relied on human intuition, with little systematic foundation. Motion-design co-optimization offers a promising path toward automation, but two major challenges remain: (i) the…

Data scaling has long remained a critical bottleneck in robot learning. For humanoid robots, human videos and motion data are abundant and widely available, offering a free and large-scale data source. Besides, the semantics related to the…

Recent advances in neural rendering have improved both training and rendering times by orders of magnitude. While these methods demonstrate state-of-the-art quality and speed, they are designed for photogrammetry of static scenes and do not…

The release of SAM 3D Body is a recent development in human mesh recovery, demonstrating improved performance in producing clean, topologically coherent meshes from single images. By leveraging the Momentum Human Rig (MHR), it achieves…

Digital human animation relies on high-quality 3D models of the human face -- rigs. A face rig must be accurate and, at the same time, fast to compute. One of the most common rigging models is the blendshape model. We present a novel…

Generating sequences of human-like motions for humanoid robots presents challenges in collecting and analyzing reference human motions, synthesizing new motions based on these reference motions, and mapping the generated motion onto…

Modeling animatable human avatars from videos is a long-standing and challenging problem. While conventional methods require per-instance optimization, recent feed-forward methods have been proposed to generate 3D Gaussians with a learnable…

Recovering the 3D geometry of a scene from a sparse set of uncalibrated images is a long-standing problem in computer vision. While recent learning-based approaches such as DUSt3R and MASt3R have demonstrated impressive results by directly…

The end-to-end Human Mesh Recovery (HMR) approach has been successfully used for 3D body reconstruction. However, most HMR-based frameworks reconstruct human body by directly learning mesh parameters from images or videos, while lacking…

The field of image-to-video generation has made remarkable progress. However, challenges such as human limb twisting and facial distortion persist, especially when generating long videos or modeling intensive motions. Existing human image…

Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills. However, achieving agile and coordinated whole-body motions remains a significant challenge due to the dynamics mismatch between…

This work addresses the problem of real-time rendering of photorealistic human body avatars learned from multi-view videos. While the classical approaches to model and render virtual humans generally use a textured mesh, recent research has…

Registering human meshes to 3D point clouds is essential for applications such as augmented reality and human-robot interaction but often yields imprecise results due to noise and background clutter in real-world data. We introduce a hybrid…

We present En3D, an enhanced generative scheme for sculpting high-quality 3D human avatars. Unlike previous works that rely on scarce 3D datasets or limited 2D collections with imbalanced viewing angles and imprecise pose priors, our…

Automatic human matting is highly desired for many real applications. We investigate recent human matting methods and show that common bad cases happen when semantic human segmentation fails. This indicates that semantic understanding is…