Related papers: Environment-aware Motion Matching
In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can…
This paper introduces a crowd modeling and motion control approach that employs diffusion adaptation within an adaptive network. In the network, nodes collaboratively address specific estimation problems while simultaneously moving as…
The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…
Motion prediction, recently popularized as world models, refers to the anticipation of future agent states or scene evolution, which is rooted in human cognition, bridging perception and decision-making. It enables intelligent systems, such…
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…
Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians.…
Character animation in real-world scenarios necessitates a variety of constraints, such as trajectories, key-frames, interactions, etc. Existing methodologies typically treat single or a finite set of these constraint(s) as separate control…
A long-standing challenge in scene analysis is the recovery of scene arrangements under moderate to heavy occlusion, directly from monocular video. While the problem remains a subject of active research, concurrent advances have been made…
Despite recent progress, text-to-image models still struggle to generate semantically diverse and compositionally accurate multi-person interaction scenes, often collapsing to repetitive layouts, stereotypical poses, and poorly grounded…
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…
Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…
When humans navigate a crowed space such as a university campus or the sidewalks of a busy street, they follow common sense rules based on social etiquette. In this paper, we argue that in order to enable the design of new algorithms that…
We present a novel, real-time algorithm to track the trajectory of each pedestrian in moderately dense crowded scenes. Our formulation is based on an adaptive particle-filtering scheme that uses a combination of various multi-agent…
In this paper, we tackle the problem of scene-aware 3D human motion forecasting. A key challenge of this task is to predict future human motions that are consistent with the scene by modeling the human-scene interactions. While recent works…
Object pose estimation enables robots to understand and interact with their environments. Training with synthetic data is necessary in order to adapt to novel situations. Unfortunately, pose estimation under domain shift, i.e., training on…
Modelling interactions between humans and objects in natural environments is central to many applications including gaming, virtual and mixed reality, as well as human behavior analysis and human-robot collaboration. This challenging…
Real-time in-between motion generation is universally required in games and highly desirable in existing animation pipelines. Its core challenge lies in the need to satisfy three critical conditions simultaneously: quality, controllability…
This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we…
Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…
Recent advances in 3D scene reconstruction and 4D human animation have broadened adoption, but integrating the two remains difficult. Key challenges include placing humans at plausible locations and scales without interpenetration, aligning…