相关论文: PhysReaction: Physically Plausible Real-Time Human…
Real-time character animation in dynamic environments requires the generation of plausible upper-body movements regardless of the nature of the environment, including non-rigid obstacles such as vegetation. We propose a flexible model for…
Recent work in sim2real has successfully enabled robots to act in physical environments by training in simulation with a diverse ''population'' of environments (i.e. domain randomization). In this work, we focus on enabling generalization…
Recent video generation models have achieved remarkable progress and are now deployed in film, social media production, and advertising. Beyond their creative potential, such models also hold promise as world simulators for robotics and…
Purpose of Review: The field of humanoid robotics, perception plays a fundamental role in enabling robots to interact seamlessly with humans and their surroundings, leading to improved safety, efficiency, and user experience. This…
To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in contact with the ground. A proper selection of footholds is…
Human motion copy is an intriguing yet challenging task in artificial intelligence and computer vision, which strives to generate a fake video of a target person performing the motion of a source person. The problem is inherently…
Among various interactions between humans, such as eye contact and gestures, physical interactions by contact can act as an essential moment in understanding human behaviors. Inspired by this fact, given a 3D partner human with the desired…
Interaction is one of the core abilities of humanoid robots. However, most existing frameworks focus on non-interactive whole-body control, which limits their practical applicability. In this work, we develop InterReal, a unified…
Upsampling videos of human activity is an interesting yet challenging task with many potential applications ranging from gaming to entertainment and sports broadcasting. The main difficulty in synthesizing video frames in this setting stems…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
The automatic generation of diverse and human-like facial reactions in dyadic dialogue remains a critical challenge for human-computer interaction systems. Existing methods fail to model the stochasticity and dynamics inherent in real human…
While visuomotor policy has made advancements in recent years, contact-rich tasks still remain a challenge. Robotic manipulation tasks that require continuous contact demand explicit handling of compliance and force. However, most…
The generation of robot motions in the real world is difficult by using conventional controllers alone and requires highly intelligent processing. In this regard, learning-based motion generations are currently being investigated. However,…
In virtual Hand-Object Interaction (HOI) scenarios, the authenticity of the hand's deformation is important to immersive experience, such as natural manipulation or tactile feedback. Unrealistic deformation arises from simplified hand…
Generating realistic listener facial motions in dyadic conversations remains challenging due to the high-dimensional action space and temporal dependency requirements. Existing approaches usually consider extracting 3D Morphable Model…
Human video synthesis aims to create lifelike characters in various environments, with wide applications in VR, storytelling, and content creation. While 2D diffusion-based methods have made significant progress, they struggle to generalize…
In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we…
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…
Recent advances in video generative models enable the synthesis of realistic human-object interaction videos across a wide range of scenarios and object categories, including complex dexterous manipulations that are difficult to capture…
Manipulation with whole-body contact by humanoid robots offers distinct advantages, including enhanced stability and reduced load. On the other hand, we need to address challenges such as the increased computational cost of motion…