Related papers: Physics-Based Motion Tracking of Contact-Rich Inte…
Recent progress on physics-based character animation has shown impressive breakthroughs on human motion synthesis, through imitating motion capture data via deep reinforcement learning. However, results have mostly been demonstrated on…
This work addresses the critical problem of tracking fast-moving objects through strongly scattering media in a low-light environment. Different from existing approaches that use frame-based cameras with fixed exposure times, which trade…
Learning motion tracking from rich human motion data is a foundational task for achieving general control in humanoid robots, enabling them to perform diverse behaviors. However, discrepancies in morphology and dynamics between humans and…
Motion style transfer changes the style of a motion while retaining its content and is useful in computer animations and games. Contact is an essential component of motion style transfer that should be controlled explicitly in order to…
Currently, the safety of people has become a very important problem in different places including subway station, universities, colleges, airport, shopping mall and square, city squares. Therefore, considering intelligence event detection…
Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding tissues. Compared with passive compliance, active compliance…
Human motion synthesis and editing are essential to many applications like film post-production. However, they often introduce artefacts in motions, which can be detrimental to the perceived realism. In particular, footskating is a frequent…
Since the past few decades, human trajectory forecasting has been a field of active research owing to its numerous real-world applications: evacuation situation analysis, deployment of intelligent transport systems, traffic operations, to…
Model-based feedforward control improves tracking performance of motion systems, provided that the model describing the inverse dynamics is of sufficient accuracy. Model sets, such as neural networks (NNs) and physics-guided neural networks…
Accurate prediction of human movements is required to enhance the efficiency of physical human-robot interaction. Behavioral differences across various users are crucial factors that limit the prediction of human motion. Although recent…
This paper presents a contact-implicit model predictive control (MPC) framework for the real-time discovery of multi-contact motions, without predefined contact mode sequences or foothold positions. This approach utilizes the…
Autonomous racing is a critical research area for autonomous driving, presenting significant challenges in vehicle dynamics modeling, such as balancing model precision and computational efficiency at high speeds (>280km/h), where minor…
Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…
The aim of this paper is to develop a crowd motion model designed to handle highly packed situations. The model we propose rests on two principles: We first define a spontaneous velocity which corresponds to the velocity each individual…
Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In…
Simulating particle dynamics with high fidelity is crucial for solving real-world interaction and control tasks involving liquids in design, graphics, and robotics. Recently, data-driven approaches, particularly those based on graph neural…
Many state-of-the-art approaches to people tracking rely on detecting them in each frame independently, grouping detections into short but reliable trajectory segments, and then further grouping them into full trajectories. This grouping…
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…
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…
Tracking human object interaction from videos is important to understand human behavior from the rapidly growing stream of video data. Previous video-based methods require predefined object templates while single-image-based methods are…