相关论文: Adaptive Generation of Phantom Limbs Using Visible…
We aim to build complex humanoid agents that integrate perception, motor control, and memory. In this work, we partly factor this problem into low-level motor control from proprioception and high-level coordination of the low-level skills…
The primary goal of skeletal motion prediction is to generate future motion by observing a sequence of 3D skeletons. A key challenge in motion prediction is the fact that a motion can often be performed in several different ways, with each…
The automatic design of robots has existed for 30 years but has been constricted by serial non-differentiable design evaluations, premature convergence to simple bodies or clumsy behaviors, and a lack of sim2real transfer to physical…
This study addresses the problem of 3D human mesh reconstruction from multi-view images. Recently, approaches that directly estimate the skinned multi-person linear model (SMPL)-based human mesh vertices based on volumetric heatmap…
Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…
Predicting movement of objects while the action of learning agent interacts with the dynamics of the scene still remains a key challenge in robotics. We propose a multi-layer Long Short Term Memory (LSTM) autoendocer network that predicts…
Faced with strong demand for robots working in underwater pipeline environments, a novel underwater multi-model locomotion robot is designed and studied in this research. By mimicking the earthworm's metameric body, the robot is segmented…
One of the typical purposes of using lower-limb exoskeleton robots is to provide assistance to the wearer by supporting their weight and augmenting their physical capabilities according to a given task and human motion intentions. The…
Electromyogram (EMG) signals recorded from the skin surface enable intuitive control of assistive devices such as prosthetic limbs. However, in EMG-based motion recognition, collecting comprehensive training data for all target motions…
Understanding human motion beyond surface kinematics is crucial for motion analysis, rehabilitation, and injury risk assessment. However, progress in this domain is limited by the lack of large-scale datasets with biomechanical annotations,…
Designing generative models for 3D structural brain MRI that synthesize morphologically-plausible and attribute-specific (e.g., age, sex, disease state) samples is an active area of research. Existing approaches based on frameworks like…
Robots will become ubiquitously useful only when they can use few attempts to teach themselves to perform different tasks, even with complex bodies and in dynamical environments. Vertebrates, in fact, successfully use trial-and-error to…
Data generation is a data augmentation technique for enhancing the generalization ability for skeleton-based human action recognition. Most existing data generation methods face challenges to ensure the temporal consistency of the dynamic…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Anatomy shape modeling is a fundamental problem in medical data analysis. However, the geometric complexity and topological variability of anatomical structures pose significant challenges to accurate anatomical shape generation. In this…
The growing complexity of spatial and structural information in 3D data makes data inspection and visualization a challenging task. We describe a method to create a planar embedding of 3D treelike structures using their skeleton…
Validating robotic systems in safety-critical appli-cations requires testing in many scenarios including rare edgecases that are unlikely to occur, requiring to complement real-world testing with testing in simulation. Generative models…
Recent communities have seen significant progress in building photo-realistic animatable avatars from sparse multi-view videos. However, current workflows struggle to render realistic garment dynamics for loose-fitting characters as they…
Supernumerary robotic limbs (SLs) have the potential to transform a wide range of human activities, yet their usability remains limited by key technical challenges, particularly in ensuring safety and achieving versatile control. Here, we…
Supernumerary robotic limbs (SRLs) are robotic structures integrated closely with the user's body, which augment human physical capabilities and necessitate seamless, naturalistic human-machine interaction. For effective assistance in…