Related papers: PhysRig: Differentiable Physics-Based Skinning and…
Physics-based understanding of object interactions from sensory observations is an essential capability in augmented reality and robotics. It enables to capture the properties of a scene for simulation and control. In this paper, we propose…
The development of biophysical models for clinical applications is rapidly advancing in the research community, thanks to their predictive nature and their ability to assist the interpretation of clinical data. However, high-resolution and…
Character rigging is universally needed in computer graphics but notoriously laborious. We present a new method, HeterSkinNet, aiming to fully automate such processes and significantly boost productivity. Given a character mesh and skeleton…
The scarcity of large-scale robotic data has motivated the repurposing of foundation models from other modalities for policy learning. In this work, we introduce PhysGen (Learning Physics from Pretrained Video Generation Models), a scalable…
We present a novel method for reconstructing personalized 3D human avatars with realistic animation from only a few images. Due to the large variations in body shapes, poses, and cloth types, existing methods mostly require hours of…
Since loose-fitting clothing contains dynamic modes that have proven to be difficult to predict via neural networks, we first illustrate how to coarsely approximate these modes with a real-time numerical algorithm specifically designed to…
While existing methods for reconstructing hand-object interactions have made impressive progress, they either focus on rigid or part-wise rigid objects-limiting their ability to model real-world objects (e.g., cloth, stuffed animals) that…
Parametric 3D body models like SMPL only represent minimally-clothed people and are hard to extend to clothing because they have a fixed mesh topology and resolution. To address these limitations, recent work uses implicit surfaces or point…
Efficient representation of articulated objects such as human bodies is an important problem in computer vision and graphics. To efficiently simulate deformation, existing approaches represent 3D objects using polygonal meshes and deform…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
World models have become indispensable tools for embodied intelligence, serving as powerful simulators capable of generating realistic robotic videos while addressing critical data scarcity challenges. However, current embodied world models…
Robotic manipulation of volumetric elastoplastic deformable materials, from foods such as dough to construction materials like clay, is in its infancy, largely due to the difficulty of modelling and perception in a high-dimensional space.…
Delicate cloth simulations have long been desired in computer graphics. Various methods were proposed to improve engaged force interactions, collision handling, and numerical integrations. Deep learning has the potential to achieve fast and…
This work expands further our earlier poster presentation and integration of the OpenGL Slides Framework (OGLSF) - to make presentations with real-time animated graphics where each slide is a scene with tidgets - and physical based…
Reliable object manipulation requires understanding physical properties that vary across objects and environments. Vision-language model (VLM) planners can reason about friction and stability in general terms; however, they often cannot…
Despite recent progress in developing animatable full-body avatars, realistic modeling of clothing - one of the core aspects of human self-expression - remains an open challenge. State-of-the-art physical simulation methods can generate…
Soft materials such as rubbers, hydrogels, and biological tissues undergo damage in the form of stiffness degradation without apparent changes in their stress-free geometry. Accurate simulation of this behavior is critical in applications…
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…
In this work, we show that exploiting additional variables in a mixed finite element formulation of deformation leads to an efficient physics-based character skinning algorithm. Taking as input, a user-defined rig, we show how to…
Animatronic robots hold the promise of enabling natural human-robot interaction through lifelike facial expressions. However, generating realistic, speech-synchronized robot expressions poses significant challenges due to the complexities…