Related papers: Towards Immersive Human-X Interaction: A Real-Time…
Humanoid Reaction Synthesis is pivotal for creating highly interactive and empathetic robots that can seamlessly integrate into human environments, enhancing the way we live, work, and communicate. However, it is difficult to learn the…
Enabling humanoid robots to perform agile and adaptive interactive tasks has long been a core challenge in robotics. Current approaches are bottlenecked by either the scarcity of realistic interaction data or the need for meticulous,…
The analysis of the ubiquitous human-human interactions is pivotal for understanding humans as social beings. Existing human-human interaction datasets typically suffer from inaccurate body motions, lack of hand gestures and fine-grained…
We propose a physics-based method for synthesizing dexterous hand-object interactions in a full-body setting. While recent advancements have addressed specific facets of human-object interactions, a comprehensive physics-based approach…
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…
This paper tackles the problem of physics-aware human motion synthesis in a dynamic scene. Unlike existing works which mainly tend to generate physically unrealistic motions due to limited contact modeling, typically restricted to hands, in…
Lightweight, controllable, and physically plausible human motion synthesis is crucial for animation, virtual reality, robotics, and human-computer interaction applications. Existing methods often compromise between computational efficiency,…
Physical Human-Humanoid Interaction (pHHI) is a rapidly advancing field with significant implications for deploying robots in unstructured, human-centric environments. In this review, we examine the current state of the art in pHHI through…
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…
The rise of automation has provided an opportunity to achieve higher efficiency in manufacturing processes, yet it often compromises the flexibility required to promptly respond to evolving market needs and meet the demand for…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Deploying humanoid robots to interact with real-world environments--such as carrying objects or sitting on chairs--requires generalizable, lifelike motions and robust scene perception. Although prior approaches have advanced each capability…
Interacting with human agents in complex scenarios presents a significant challenge for robotic navigation, particularly in environments that necessitate both collision avoidance and collaborative interaction, such as indoor spaces. Unlike…
Human motion synthesis is an important problem with applications in graphics, gaming and simulation environments for robotics. Existing methods require accurate motion capture data for training, which is costly to obtain. Instead, we…
Digital human motion synthesis is a vibrant research field with applications in movies, AR/VR, and video games. Whereas methods were proposed to generate natural and realistic human motions, most only focus on modeling humans and largely…
Supporting real-time interactions between human controllers and remote devices remains a challenging goal in the Metaverse due to the stringent requirements on computing workload, communication throughput, and round-trip latency. In this…
Intelligent agents must autonomously interact with the environments to perform daily tasks based on human-level instructions. They need a foundational understanding of the world to accurately interpret these instructions, along with precise…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Synthesizing 3D human avatars interacting realistically with a scene is an important problem with applications in AR/VR, video games and robotics. Towards this goal, we address the task of generating a virtual human -- hands and full body…
Despite substantial progress in text-driven 3D human motion synthesis, generating realistic multi-person interaction sequences remains challenging. Notably, body inter-penetration is a pervasive issue from both data acquisition to the…