相关论文: Synthesis of Biologically Realistic Human Motion U…
The biomechanics of the human body gives subjects a high degree of freedom in how they can execute movement. Nevertheless, subjects exhibit regularity in their movement patterns. One way to account for this regularity is to suppose that…
Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…
Humanoid Reaction Synthesis is pivotal for creating highly interactive and empathetic robots that can seamlessly integrate into human environments, enhancing the way we live, work, and communicate. However, it is difficult to learn the…
Generative models trained on internet data have revolutionized how text, image, and video content can be created. Perhaps the next milestone for generative models is to simulate realistic experience in response to actions taken by humans,…
Tendon-driven musculoskeletal humanoids have many benefits in terms of the flexible spine, multiple degrees of freedom, and variable stiffness. At the same time, because of its body complexity, there are problems in controllability. First,…
This work focuses on generating realistic, physically-based human behaviors from multi-modal inputs, which may only partially specify the desired motion. For example, the input may come from a VR controller providing arm motion and body…
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On…
We propose a novel cognitively-inspired method to improve and interpret physical simulation in vision-language models. Our ``Chain of Time" method involves generating a series of intermediate images during a simulation, and it is motivated…
Interactive multi-agent simulation algorithms are used to compute the trajectories and behaviors of different entities in virtual reality scenarios. However, current methods involve considerable parameter tweaking to generate plausible…
Human movement disorders or paralysis lead to the loss of control of muscle activation and thus motor control. Functional Electrical Stimulation (FES) is an established and safe technique for contracting muscles by stimulating the skin…
For a robot with redundant sensors and actuators distributed throughout its body, it is difficult to construct a controller or a neural network using all of them due to computational cost and complexity. Therefore, it is effective to…
Inspired by the strong ties between vision and language, the two intimate human sensing and communication modalities, our paper aims to explore the generation of 3D human full-body motions from texts, as well as its reciprocal task,…
This paper proposes the Transition Motion Tensor, a data-driven framework that creates novel and physically accurate transitions outside of the motion dataset. It enables simulated characters to adopt new motion skills efficiently and…
Simulators of animal movements play a valuable role in studying behavior. Advances in imitation learning for robotics have expanded possibilities for reproducing human and animal movements. A key challenge for realistic multi-animal…
Generating realistic human motion is essential for many computer vision and graphics applications. The wide variety of human body shapes and sizes greatly impacts how people move. However, most existing motion models ignore these…
Design of robotic systems that safely and efficiently operate in uncertain operational conditions, such as rehabilitation and physical assistance robots, remains an important challenge in the field. Current methods for the design of energy…
Robotic devices provide a great opportunity to assist in delivering physical therapy and rehabilitation movements, yet current robot-assisted methods struggle to incorporate biomechanical metrics essential for safe and effective therapy. We…
Motion disorders pose a significant global health concern and are often managed with pharmacological treatments that may lead to undesirable long-term effects. Current therapeutic strategies lack differentiation between healthy and…
In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…
Supernumerary Robotic Limbs (SRLs) can enhance human capability within close proximity. However, as a wearable device, the generated moment from its operation acts on the human body as an external torque. When the moments increase, more…