相关论文: Expressive Inverse Kinematics Solving in Real-time…
Inverse kinematics is a fundamental problem for articulated robots: fast and accurate algorithms are needed for translating task-related workspace constraints and goals into feasible joint configurations. In general, inverse kinematics for…
Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative service robots gaining traction,…
Character animation aims to generate lifelike videos by transferring motion dynamics from a driving video to a reference image. Recent strides in generative models have paved the way for high-fidelity character animation. In this work, we…
In this paper, we explore the dynamic grasping of moving objects through active pose tracking and reinforcement learning for hand-eye coordination systems. Most existing vision-based robotic grasping methods implicitly assume target objects…
Inverse kinematics is a fundamental technique for motion and positioning control in robotics, typically applied to end-effectors. In this paper, we extend the concept of inverse kinematics to guiding vector fields for path following in…
A longstanding goal in character animation is to combine data-driven specification of behavior with a system that can execute a similar behavior in a physical simulation, thus enabling realistic responses to perturbations and environmental…
Physics-based character animation has become a fundamental approach for synthesizing realistic, physically plausible motions. While current data-driven deep reinforcement learning (DRL) methods can synthesize complex skills, they struggle…
Model-based 3D pose and shape estimation methods reconstruct a full 3D mesh for the human body by estimating several parameters. However, learning the abstract parameters is a highly non-linear process and suffers from image-model…
Motions of virtual characters in movies or video games are typically generated by recording actors using motion capturing methods. Animations generated this way often need postprocessing, such as improving the periodicity of cyclic…
With recent advancements in neural rendering and motion capture algorithms, remarkable progress has been made in photorealistic human avatar modeling, unlocking immense potential for applications in virtual reality, augmented reality,…
Imitation learning is a powerful paradigm for robot skill acquisition, yet conventional demonstration methods--such as kinesthetic teaching and teleoperation--are cumbersome, hardware-heavy, and disruptive to workflows. Recently, passive…
The inverse kinematics (IK) problem of continuum robots has been investigated in depth in the past decades. Under the constant-curvature bending assumption, closed-form IK solution has been obtained for continuum robots with variable…
This paper presents the design and development of an innovative interactive robotic system to enhance audience engagement using character-like personas. Built upon the foundations of persona-driven dialog agents, this work extends the…
This paper introduces the Visual Inverse Kinematics problem (VIK) to fill the gap between robot Inverse Kinematics (IK) and visual servo control. Different from the IK problem, the VIK problem seeks to find robot configurations subject to…
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,…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
Soft robots are interesting examples of hyper-redundancy in robotics, however, the nonlinear continuous dynamics of these robots and the use of hyper-elastic and visco-elastic materials makes modeling of these robots more complicated. This…
Solving the analytical inverse kinematics (IK) of redundant manipulators in real time is a difficult problem in robotics since its solution for a given target pose is not unique. Moreover, choosing the optimal IK solution with respect to…
Despite the growing adoption of mixed reality and interactive AI agents, it remains challenging for these systems to generate high quality 2D/3D scenes in unseen environments. The common practice requires deploying an AI agent to collect…
Interactive applications demand believable characters that respond naturally to dynamic environments. Traditional character animation techniques often struggle to handle arbitrary situations, leading to a growing trend of dynamically…