相关论文: COUCH: Towards Controllable Human-Chair Interactio…

We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…

Deep generative models have been recently extended to synthesizing 3D digital humans. However, previous approaches treat clothed humans as a single chunk of geometry without considering the compositionality of clothing and accessories. As a…

Grasping and manipulating objects is an important human skill. Since most objects are designed to be manipulated by human hands, anthropomorphic hands can enable richer human-robot interaction. Desirable grasps are not only stable, but also…

Human-Scene Interaction (HSI) is a vital component of fields like embodied AI and virtual reality. Despite advancements in motion quality and physical plausibility, two pivotal factors, versatile interaction control and the development of a…

We focus on the human-humanoid interaction task optionally with an object. We propose a new task named online full-body motion reaction synthesis, which generates humanoid reactions based on the human actor's motions. The previous work only…

We propose a physics-based method for synthesizing dexterous hand-object interactions in a full-body setting. While recent advancements have addressed specific facets of human-object interactions, a comprehensive physics-based approach…

The physical properties of an object, such as mass, significantly affect how we manipulate it with our hands. Surprisingly, this aspect has so far been neglected in prior work on 3D motion synthesis. To improve the naturalness of the…

In this paper, we tackle the problem of scene-aware 3D human motion forecasting. A key challenge of this task is to predict future human motions that are consistent with the scene by modeling the human-scene interactions. While recent works…

Can we make virtual characters in a scene interact with their surrounding objects through simple instructions? Is it possible to synthesize such motion plausibly with a diverse set of objects and instructions? Inspired by these questions,…

We tackle the novel problem of predicting 3D hand motion and contact maps (or Interaction Trajectories) given a single RGB view, action text, and a 3D contact point on the object as input. Our approach consists of (1) Interaction Codebook:…

Hand motion capture data is now relatively easy to obtain, even for complicated grasps; however this data is of limited use without the ability to retarget it onto the hands of a specific character or robot. The target hand may differ…

Generating large-scale multi-character interactions is a challenging and important task in character animation. Multi-character interactions involve not only natural interactive motions but also characters coordinated with each other for…

Integrating robots into populated environments is a complex challenge that requires an understanding of human social dynamics. In this work, we propose to model social motion forecasting in a shared human-robot representation space, which…

Hand-object interaction (HOI) is fundamental for humans to express intent. Existing HOI generation research is predominantly confined to fixed grasping patterns, where control is tied to physical priors such as force closure or generic…

This paper presents a novel method for generating diverse 3D human poses in scenes with semantic control. Existing methods heavily rely on the human-scene interaction dataset, resulting in a limited diversity of the generated human poses.…

Synthesizing interaction-involved human motions has been challenging due to the high complexity of 3D environments and the diversity of possible human behaviors within. We present LAMA, Locomotion-Action-MAnipulation, to synthesize natural…

The way humans interact with each other, including interpersonal distances, spatial configuration, and motion, varies significantly across different situations. To enable machines to understand such complex, context-dependent behaviors, it…

We propose a real-time method for reactive motion synthesis based on the known trajectory of input character, predicting instant reactions using only historical, user-controlled motions. Our method handles the uncertainty of future…

Synthesizing realistic human-object interaction motions is a critical problem in VR/AR and human animation. Unlike the commonly studied scenarios involving a single human or hand interacting with one object, we address a more generic…

The synthesis of human grasping has numerous applications including AR/VR, video games and robotics. While methods have been proposed to generate realistic hand-object interaction for object grasping and manipulation, these typically only…