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Avatars are important to create interactive and immersive experiences in virtual worlds. One challenge in animating these characters to mimic a user's motion is that commercial AR/VR products consist only of a headset and controllers,…
Constructing and animating humans is an important component for building virtual worlds in a wide variety of applications such as virtual reality or robotics testing in simulation. As there are exponentially many variations of humans with…
Multi-object multi-part scene segmentation is a challenging task whose complexity scales exponentially with part granularity and number of scene objects. To address the task, we propose a plug-and-play approach termed OLAF. First, we…
We explore natural user interactions using a virtual reality simulation of a robot arm for assembly tasks. Using a Wizard-of-Oz study, participants completed collaborative LEGO and instructive PCB assembly tasks, with the robot responding…
This paper focuses on a critical challenge in robotics: translating text-driven human motions into executable actions for humanoid robots, enabling efficient and cost-effective learning of new behaviors. While existing text-to-motion…
We propose novel motion representations for animating articulated objects consisting of distinct parts. In a completely unsupervised manner, our method identifies object parts, tracks them in a driving video, and infers their motions by…
There are many different ways a robot can move in Human-Robot Interaction. One way is to use techniques from film animation to instruct the robot to move. This article is a systematic literature review of human-robot trials, pilots, and…
Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…
Nonverbal behaviors such as posture, gestures, and gaze are essential for conveying internal states, both consciously and unconsciously, in human interaction. For robots to interact more naturally with humans, robot movement design should…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
Humans develop an understanding of intuitive physics through active interaction with the world. This approach is in stark contrast to current video models, such as Sora, which rely on passive observation and therefore struggle with grasping…
We present CaPhy, a novel method for reconstructing animatable human avatars with realistic dynamic properties for clothing. Specifically, we aim for capturing the geometric and physical properties of the clothing from real observations.…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
Among small-scale mobile robots, multi-modal locomotion can help compensate for limited actuator capabilities. However, supporting multiple locomotion modes or gaits in small terrestrial robots typically requires complex designs with low…
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations…
We present Neural Generalized Implicit Functions(Neural-GIF), to animate people in clothing as a function of the body pose. Given a sequence of scans of a subject in various poses, we learn to animate the character for new poses. Existing…
Assistive robots offer agency to humans with severe motor impairments. Often, these users control high-DoF robots through low-dimensional interfaces, such as using a 1-D sip-and-puff interface to operate a 6-DoF robotic arm. This mismatch…
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…
This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…