Related papers: Humanoid Motion Scripting with Postural Synergies
Real-time synthesis of physically plausible human interactions remains a critical challenge for immersive VR/AR systems and humanoid robotics. While existing methods demonstrate progress in kinematic motion generation, they often fail to…
Existing Graph Convolutional Networks to achieve human motion prediction largely adopt a one-step scheme, which output the prediction straight from history input, failing to exploit human motion patterns. We observe that human motions have…
We review human evaluation practices in automatic, speech-driven 3D gesture generation and find a lack of standardisation and frequent use of flawed experimental setups. This leads to a situation where it is impossible to know how different…
This paper presents a novel recurrent neural network-based method to construct a latent motion manifold that can represent a wide range of human motions in a long sequence. We introduce several new components to increase the spatial and…
Markerless motion capture has become an active field of research in computer vision in recent years. Its extensive applications are known in a great variety of fields, including computer animation, human motion analysis, biomedical…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object…
The embodied learning of human motor control requires whole-body neuro-actuated musculoskeletal dynamics, while the internal muscle-driven processes underlying movement remain inaccessible to direct measurement. Computational modeling…
This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of balancing upright stance while performing voluntary…
\textbf{Synthetic human dynamics} aims to generate photorealistic videos of human subjects performing expressive, intention-driven motions. However, current approaches face two core challenges: (1) \emph{geometric inconsistency} and…
The human body demonstrates exceptional motor capabilities-such as standing steadily on one foot or performing a high kick with the leg raised over 1.5 meters-both requiring precise balance control. While recent research on humanoid control…
We present a data-driven framework for unsupervised human motion retargeting that animates a target subject with the motion of a source subject. Our method is correspondence-free, requiring neither spatial correspondences between the source…
Generating human motion with precise spatial control is a challenging problem. Existing approaches often require task-specific training or slow optimization, and enforcing hard constraints frequently disrupts motion naturalness. Building on…
Stylized motion generation is actively studied in computer graphics, especially benefiting from the rapid advances in diffusion models. The goal of this task is to produce a novel motion respecting both the motion content and the desired…
In this paper, a framework for monitoring human physiological response during Human-Robot Collaborative (HRC) task is presented. The framework highlights the importance of generation of event markers related to both human and robot, and…
Animation of humanoid characters is essential in various graphics applications, but requires significant time and cost to create realistic animations. We propose an approach to synthesize 4D animated sequences of input static 3D humanoid…
In this work we propose a novel solution for 3D skeleton-based human motion prediction. The objective of this task consists in forecasting future human poses based on a prior skeleton pose sequence. This involves solving two main challenges…
Recent advances in humanoid whole-body motion tracking have enabled the execution of diverse and highly coordinated motions on real hardware. However, existing controllers are commonly driven either by predefined motion trajectories, which…
Bimanual handovers are crucial for transferring large, deformable or delicate objects. This paper proposes a framework for generating kinematically constrained human-like bimanual robot motions to ensure seamless and natural robot-to-human…