Related papers: Environment-aware Motion Matching
Real-time animation of virtual characters has traditionally been accomplished by playing short sequences of animations structured in the form of a graph. These methods are time-consuming to set up and scale poorly with the number of motions…
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…
Real-time character animation in dynamic environments requires the generation of plausible upper-body movements regardless of the nature of the environment, including non-rigid obstacles such as vegetation. We propose a flexible model for…
Smooth and seamless robot navigation while interacting with humans depends on predicting human movements. Forecasting such human dynamics often involves modeling human trajectories (global motion) or detailed body joint movements (local…
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…
Existing automatic approaches for 3D virtual character motion synthesis supporting scene interactions do not generalise well to new objects outside training distributions, even when trained on extensive motion capture datasets with diverse…
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…
We present a method to animate a character incorporating multiple part-wise motion priors (PMP). While previous works allow creating realistic articulated motions from reference data, the range of motion is largely limited by the available…
Recent character image animation methods based on diffusion models, such as Animate Anyone, have made significant progress in generating consistent and generalizable character animations. However, these approaches fail to produce reasonable…
The problem of predicting human motion given a sequence of past observations is at the core of many applications in robotics and computer vision. Current state-of-the-art formulate this problem as a sequence-to-sequence task, in which a…
Replicating a user's pose from only wearable sensors is important for many AR/VR applications. Most existing methods for motion tracking avoid environment interaction apart from foot-floor contact due to their complex dynamics and hard…
This paper presents a novel approach for exploring diverse and expressive motions that are physically correct and interactive. The approach combining user participation in with the animation development process using crowdsourcing to remove…
The animation of user avatars plays a crucial role in conveying their pose, gestures, and relative distances to virtual objects or other users. Self-avatar animation in immersive VR helps improve the user experience and provides a Sense of…
In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…
Transforming neutral, characterless input motions to embody the distinct style of a notable character in real time is highly compelling for character animation. This paper introduces MOCHA, a novel online motion characterization framework…
Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require multiple training samples per motion,…
Motions of virtual characters in movies or video games are typically generated by recording actors using motion capturing methods. Animations generated this way often need postprocessing, such as improving the periodicity of cyclic…
In this paper, we tackle the task of scene-aware 3D human motion forecasting, which consists of predicting future human poses given a 3D scene and a past human motion. A key challenge of this task is to ensure consistency between the human…
Over the years, the separate fields of motion planning, mapping, and human trajectory prediction have advanced considerably. However, the literature is still sparse in providing practical frameworks that enable mobile manipulators to…
In the robot follow-ahead task, a mobile robot is tasked to maintain its relative position in front of a moving human actor while keeping the actor in sight. To accomplish this task, it is important that the robot understand the full 3D…