Related papers: CHOICE: Coordinated Human-Object Interaction in Cl…
Humans interact with an object in many different ways by making contact at different locations, creating a highly complex motion space that can be difficult to learn, particularly when synthesizing such human interactions in a controllable…
Synthesizing semantic-aware, long-horizon, human-object interaction is critical to simulate realistic human behaviors. In this work, we address the challenging problem of generating synchronized object motion and human motion guided by…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configuration space -- which becomes excessively high-dimensional with…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…
We present a novel method for populating 3D indoor scenes with virtual humans that can navigate in the environment and interact with objects in a realistic manner. Existing approaches rely on training sequences that contain captured human…
Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…
Pushing objects through cluttered scenes is a challenging task, especially when the objects to be pushed have initially unknown dynamics and touching other entities has to be avoided to reduce the risk of damage. In this paper, we approach…
Synthesizing human motions in 3D environments, particularly those with complex activities such as locomotion, hand-reaching, and human-object interaction, presents substantial demands for user-defined waypoints and stage transitions. These…
Humans frequently grasp, manipulate, and move objects. Interactive systems assist humans in these tasks, enabling applications in Embodied AI, human-robot interaction, and virtual reality. However, current methods in hand-object synthesis…
The ability to synthesize long-term human motion sequences in real-world scenes can facilitate numerous applications. Previous approaches for scene-aware motion synthesis are constrained by pre-defined target objects or positions and thus…
We present a physics-based character control framework for synthesizing human-scene interactions. Recent advances adopt physics simulation to mitigate artifacts produced by data-driven kinematic approaches. However, existing physics-based…
We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots, and (ii) is capable of handling tasks which involve an a…
We revisit human motion synthesis, a task useful in various real world applications, in this paper. Whereas a number of methods have been developed previously for this task, they are often limited in two aspects: focusing on the poses while…
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…
Movement is how people interact with and affect their environment. For realistic character animation, it is necessary to synthesize such interactions between virtual characters and their surroundings. Despite recent progress in character…
We present PACE, a novel method for modifying motion-captured virtual agents to interact with and move throughout dense, cluttered 3D scenes. Our approach changes a given motion sequence of a virtual agent as needed to adjust to the…