Related papers: Switch-JustDance: Benchmarking Whole Body Motion T…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…
In this paper, we present a descriptor for human whole-body actions based on motion coordination. We exploit the principle, well known in neuromechanics, that humans move their joints in a coordinated fashion. Our coordination-based…
This paper presents JAEGER, a dual-level whole-body controller for humanoid robots that addresses the challenges of training a more robust and versatile policy. Unlike traditional single-controller approaches, JAEGER separates the control…
Many analysis and verifications tasks, such as static program analyses and model-checking for temporal logics reduce to the solution of systems of equations over suitable lattices. Inspired by recent work on lattice-theoretic progress…
Benchmarks offer a scientific way to compare algorithms using objective performance metrics. Good benchmarks have two features: (a) they should be widely useful for many research groups; (b) and they should produce reproducible findings. In…
We propose MikuDance, a diffusion-based pipeline incorporating mixed motion dynamics to animate stylized character art. MikuDance consists of two key techniques: Mixed Motion Modeling and Mixed-Control Diffusion, to address the challenges…
Humanoid robots have recently achieved impressive progress in locomotion and whole-body control, yet they remain constrained in tasks that demand rapid interaction with dynamic environments through manipulation. Table tennis exemplifies…
Coordinating the motion between lower and upper limbs and aligning limb control with perception are substantial challenges in robotics, particularly in dynamic environments. To this end, we introduce an approach for enabling legged mobile…
This paper presents a simple method for "do as I do" motion transfer: given a source video of a person dancing, we can transfer that performance to a novel (amateur) target after only a few minutes of the target subject performing standard…
This study investigates the application of general human motion encoders trained on large-scale human motion datasets for analyzing gait patterns in PD patients. Although these models have learned a wealth of human biomechanical knowledge,…
Humans often work closely together and relay a wealth of information through physical interaction. Robots, on the other hand, are not yet able to work similarly closely with humans and to effectively convey information when engaging in…
Behavioural cloning, where a computer is taught to perform a task based on demonstrations, has been successfully applied to various video games and robotics tasks, with and without reinforcement learning. This also includes end-to-end…
Recently, there has been a wealth of development in motion planning for robotic manipulation new motion planners are continuously proposed, each with their own unique strengths and weaknesses. However, evaluating new planners is challenging…
While games have been used extensively as milestones to evaluate game-playing AI, there exists no standardised framework for reporting the obtained observations. As a result, it remains difficult to draw general conclusions about the…
Modeling and control of the human musculoskeletal system is important for understanding human motor functions, developing embodied intelligence, and optimizing human-robot interaction systems. However, current human musculoskeletal models…
Social Robot Navigation is the skill that allows robots to move efficiently in human-populated environments while ensuring safety, comfort, and trust. Unlike other areas of research, the scientific community has not yet achieved an…
Recent advances in upper limb prostheses have led to significant improvements in the number of movements provided by the robotic limb. However, the method for controlling multiple degrees of freedom via user-generated signals remains…
Current vision-based robotics simulation benchmarks have significantly advanced robotic manipulation research. However, robotics is fundamentally a real-world problem, and evaluation for real-world applications has lagged behind in…
Action-conditioned video models offer a promising path to building general-purpose robot simulators that can improve directly from data. Yet, despite training on large-scale robot datasets, current state-of-the-art video models still…
Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized over several footsteps. In this paper, we argue that it is not…