Related papers: PhysiGen: Integrating Collision-Aware Physical Con…
Physical Human-Humanoid Interaction (pHHI) is a rapidly advancing field with significant implications for deploying robots in unstructured, human-centric environments. In this review, we examine the current state of the art in pHHI through…
To develop, analyze, and evolve today's highly configurable software systems, developers need deep knowledge of a system's configuration options, e.g., how options need to be set to reach certain locations, what configurations to use for…
Text-conditioned human motion generation has experienced significant advancements with diffusion models trained on extensive motion capture data and corresponding textual annotations. However, extending such success to 3D dynamic…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Human behaviors in real-world environments are inherently interactive, with an individual's motion shaped by surrounding agents and the scene. Such capabilities are essential for applications in virtual avatars, interactive animation, and…
Diffusion models are advancing autonomous driving by enabling realistic data synthesis, predictive end-to-end planning, and closed-loop simulation, with a primary focus on temporally consistent generation. However, large-scale 3D scene…
Despite remarkable progress having been made on the problem of 3D human pose and shape estimation (HPS), current state-of-the-art methods rely heavily on either confined indoor mocap datasets or datasets generated by a rendering engine…
We present a fully automatic system that takes a 3D scene and generates plausible 3D human bodies that are posed naturally in that 3D scene. Given a 3D scene without people, humans can easily imagine how people could interact with the scene…
We consider the problem of regenerating 3D objects from 2D images and initial 3D shapes. Most 3D generators operate in a one-shot fashion, converting text or images to a 3D object with limited controllability. We introduce instead…
Can a video generation model be repurposed as an interactive world simulator? We explore the affordance perception potential of text-to-video models by teaching them to predict human-environment interaction. Given a scene image and a prompt…
Visuomotor policies have shown great promise in robotic manipulation but often require substantial amounts of human-collected data for effective performance. A key reason underlying the data demands is their limited spatial generalization…
Holistic 3D human-scene reconstruction is a crucial and emerging research area in robot perception. A key challenge in holistic 3D human-scene reconstruction is to generate a physically plausible 3D scene from a single monocular RGB image.…
This paper presents a novel generative approach that outputs 3D indoor environments solely from a textual description of the scene. Current methods often treat scene synthesis as a mere layout prediction task, leading to rooms with…
Humans effortlessly integrate common-sense knowledge with sensory input from vision and touch to understand their surroundings. Emulating this capability, we introduce FusionSense, a novel 3D reconstruction framework that enables robots to…
This paper presents a real-time solution for collision detection between objects based on the physics properties. Traditional approaches on collision detection often rely on the geometric relationships that computing the intersections…
To have a seamless user experience on immersive AR/VR applications, the importance of efficient and effective Neural Network (NN) models is undeniable, since missing body parts that cannot be captured by limited sensors should be generated…
3D scene generation seeks to synthesize spatially structured, semantically meaningful, and photorealistic environments for applications such as immersive media, robotics, autonomous driving, and embodied AI. Early methods based on…
We present a novel method for inserting objects, specifically humans, into existing images, such that they blend in a photorealistic manner, while respecting the semantic context of the scene. Our method involves three subnetworks: the…
Pedestrian intention prediction is crucial for autonomous driving. In particular, knowing if pedestrians are going to cross in front of the ego-vehicle is core to performing safe and comfortable maneuvers. Creating accurate and fast models…
We present a quasi-static finite element simulator for human face animation. We model the face as an actuated soft body, which can be efficiently simulated using Projective Dynamics (PD). We adopt Incremental Potential Contact (IPC) to…