相关论文: Wild Motion Unleashed: Markerless 3D Kinematics an…
The estimation of external joint torque and contact wrench is essential for achieving stable locomotion of humanoids and safety-oriented robots. Although the contact wrench on the foot of humanoids can be measured using a force-torque…
Subject motion in whole-body dynamic PET introduces inter-frame mismatch and seriously impacts parametric imaging. Traditional non-rigid registration methods are generally computationally intense and time-consuming. Deep learning approaches…
This paper addresses the problem of 3D human pose estimation in the wild. A significant challenge is the lack of training data, i.e., 2D images of humans annotated with 3D poses. Such data is necessary to train state-of-the-art CNN…
Accurate force/torque estimation is essential for applications such as powered exoskeletons, robotics, and rehabilitation. However, force/torque estimation under dynamic conditions is a challenging due to changing joint angles, force…
Humanoid robots are entering our physical world at scale, yet as oversized toys--good at singing and dancing, but short on force-interaction capabilities for practical tasks. Bridging this gap necessitates prioritizing reliable contact…
Accurate shape reconstruction is essential for precise control and reliable operation of soft robots. Compared to sensor-based approaches, vision-based methods offer advantages in cost, simplicity, and ease of deployment. However, existing…
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…
High-fidelity motion tracking serves as the ultimate litmus test for generalizable, human-level motor skills. However, current policies often hit a "generality barrier": as motion libraries scale in diversity, tracking fidelity inevitably…
Autonomous navigation in unstructured vegetated environments remains an open challenge. To successfully operate in these settings, ground vehicles must assess the traversability of the environment and determine which vegetation is pliable…
Quadrupedal robots resemble the physical ability of legged animals to walk through unstructured terrains. However, designing a controller for quadrupedal robots poses a significant challenge due to their functional complexity and requires…
A major challenge for physically unconstrained gaze estimation is acquiring training data with 3D gaze annotations for in-the-wild and outdoor scenarios. In contrast, videos of human interactions in unconstrained environments are abundantly…
This letter presents a novel approach to extract reliable dense and long-range motion trajectories of articulated human in a video sequence. Compared with existing approaches that emphasize temporal consistency of each tracked point, we…
This paper introduces the Terrain Recognition And Contact Force Estimation Paw, a compact and sensorized shoe designed for legged robots. The paw end-effector is made of silicon that deforms upon the application of contact forces, while an…
Computer vision for animals holds great promise for wildlife research but often depends on large-scale data, while existing collection methods rely on controlled capture setups. Recent data-driven approaches show the potential of…
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…
Many animals, modern aircraft, and underwater vehicles use streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through…
We propose a general statistical mechanics framework for the collective motion of animals. The framework considers the principle of maximum entropy, the interaction, boundary, and desire effects, as well as the time-delay effect. These…
We present a novel, reusable and task-agnostic primitive for assessing the outcome of a force-interaction robotic skill, useful e.g.\ for applications such as quality control in industrial manufacturing. The proposed method is easily…
We focus on the challenging problem of efficient mouse 3D pose estimation based on static images, and especially single depth images. We introduce an approach to discriminatively train the split nodes of trees in random forest to improve…
Synthetic visual data can provide practically infinite diversity and rich labels, while avoiding ethical issues with privacy and bias. However, for many tasks, current models trained on synthetic data generalize poorly to real data. The…