Related papers: PhysRig: Differentiable Physics-Based Skinning and…
Modern interactive applications increasingly demand dynamic 3D content, yet the transformation of static 3D models into animated assets constitutes a significant bottleneck in content creation pipelines. While recent advances in generative…
Hand-drawn character animation is a vibrant field in computer graphics, presenting challenges in achieving geometric consistency while conveying expressive motion. Traditional skeletal animation methods maintain geometric consistency but…
Despite advancements in Neural Implicit models for 3D surface reconstruction, handling dynamic environments with interactions between arbitrary rigid, non-rigid, or deformable entities remains challenging. The generic reconstruction methods…
Differentiable physics simulation provides an avenue to tackle previously intractable challenges through gradient-based optimization, thereby greatly improving the efficiency of solving robotics-related problems. To apply differentiable…
Realistic animatable human avatars from monocular videos are crucial for advancing human-robot interaction and enhancing immersive virtual experiences. While recent research on 3DGS-based human avatars has made progress, it still struggles…
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…
Faithfully reconstructing textured shapes and physical properties from videos presents an intriguing yet challenging problem. Significant efforts have been dedicated to advancing such a system identification problem in this area. Previous…
Robotic grasping is a fundamental aspect of robot functionality, defining how robots interact with objects. Despite substantial progress, its generalizability to counter-intuitive or long-tailed scenarios, such as objects with uncommon…
Video Diffusion Models (VDMs) offer a promising approach for simulating dynamic scenes and environments, with broad applications in robotics and media generation. However, existing models often generate temporally incoherent content that…
This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…
Dynamic state representation learning is an important task in robot learning. Latent space that can capture dynamics related information has wide application in areas such as accelerating model free reinforcement learning, closing the…
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…
Simulating the complex interactions between soft tissues and rigid anatomy is critical for applications in surgical training, planning, and robotic-assisted interventions. Traditional Finite Element Method (FEM)-based simulations, while…
Recent communities have seen significant progress in building photo-realistic animatable avatars from sparse multi-view videos. However, current workflows struggle to render realistic garment dynamics for loose-fitting characters as they…
Recent advances in garment simulation have brought high-quality results closer to real-time performance. Physics-based simulators can produce accurate motion, but remain too computationally expensive for interactive applications. In…
Physically-based rendering (PBR) is key for immersive rendering effects used widely in the industry to showcase detailed realistic scenes from computer graphics assets. A well-known caveat is that producing the same is computationally heavy…
In this paper, we focus on the challenges of modeling deformable 3D objects from casual videos. With the popularity of neural radiance fields (NeRF), many works extend it to dynamic scenes with a canonical NeRF and a deformation model that…
Muscle-based systems have the potential to provide both anatomical accuracy and semantic interpretability as compared to blendshape models; however, a lack of expressivity and differentiability has limited their impact. Thus, we propose…
Accurately modeling friction in robotics remains a core challenge, as robotics simulators like MuJoCo and PyBullet use simplified friction models or heuristics to balance computational efficiency with accuracy, where these simplifications…
We present a novel method for generating 3D garment deformations from given body poses, which is key to a wide range of applications, including virtual try-on and extended reality. To simplify the cloth dynamics, existing methods mostly…