相关论文: Expressive Inverse Kinematics Solving in Real-time…
Training a robotic arm to accomplish real-world tasks has been attracting increasing attention in both academia and industry. This work discusses the role of computer vision algorithms in this field. We focus on low-cost arms on which no…
Significant advancements have been made in developing parametric models for digital humans, with various approaches concentrating on parts such as the human body, hand, or face. Nevertheless, connectors such as the neck have been overlooked…
Real-time animation of virtual characters has traditionally been accomplished by playing short sequences of animations structured in the form of a graph. These methods are time-consuming to set up and scale poorly with the number of motions…
Inverse kinematic (IK) methods recover the parameters of the joints, given the desired position of selected elements in the kinematic chain. While the problem is well-defined and low-dimensional, it has to be solved rapidly, accounting for…
Authoring an appealing animation for a virtual character is a challenging task. In computer-aided keyframe animation artists define the key poses of a character by manipulating its underlying skeletons. To look plausible, a character pose…
Deep neural networks have accelerated inverse-kinematics (IK) inference to the point where low cost manipulators can execute complex trajectories in real time, yet the opaque nature of these models contradicts the transparency and safety…
Synthesizing graceful and life-like behaviors for physically simulated characters has been a fundamental challenge in computer animation. Data-driven methods that leverage motion tracking are a prominent class of techniques for producing…
The end-user programming of social robot behavior is usually limited by a predefined set of movements. We are proposing a puppeteering robotic interface that provides a more intuitive method of programming robot expressive movements. As the…
This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challenging to reproduce and reuse due to their specificity to…
3D facial animation is often produced by manipulating facial deformation models (or rigs), that are traditionally parameterized by expression controls. A key component that is usually overlooked is expression 'style', as in, how a…
Recent progress in video diffusion models has markedly advanced character animation, which synthesizes motioned videos by animating a static identity image according to a driving video. Explicit methods represent motion using skeleton,…
Learning whole-body control for locomotion and arm motions in a single policy has challenges, as the two tasks have conflicting goals. For instance, efficient locomotion typically favors a horizontal base orientation, while end-effector…
Animating an avatar that reflects a user's action in the VR world enables natural interactions with the virtual environment. It has the potential to allow remote users to communicate and collaborate in a way as if they met in person.…
Movement is how people interact with and affect their environment. For realistic character animation, it is necessary to synthesize such interactions between virtual characters and their surroundings. Despite recent progress in character…
We propose a method for incorporating object interaction and human body dynamics into the task of 3D ego-pose estimation using a head-mounted camera. We use a kinematics model of the human body to represent the entire range of human motion,…
Video generative models are increasingly used as world models for robotics, where a model generates a future visual rollout conditioned on the current observation and task instruction, and an inverse dynamics model (IDM) converts the…
In human-robot collaboration (HRC), robots must adapt online to dynamic task constraints and evolving human intent. While physical corrections provide a natural, low-latency channel for operators to convey motion-level adjustments,…
Robot-assisted minimally invasive surgery has shown to improve patient outcomes, as well as reduce complications and recovery time for several clinical applications. While increasingly configurable robotic arms can maximize reach and avoid…
While existing methods for 3D face reconstruction from in-the-wild images excel at recovering the overall face shape, they commonly miss subtle, extreme, asymmetric, or rarely observed expressions. We improve upon these methods with SMIRK…
The incredible feats of athleticism demonstrated by humans are made possible in part by a vast repertoire of general-purpose motor skills, acquired through years of practice and experience. These skills not only enable humans to perform…