相关论文: PhysReaction: Physically Plausible Real-Time Human…
Imitation learning is a promising approach for training humanoid robots to both walk and manipulate, but it requires a large number of demonstrations, which are time-intensive and difficult to collect via teleoperation. Existing…
Simulating robot-world interactions is a cornerstone of Embodied AI. Recently, a few works have shown promise in leveraging video generations to transcend the rigid visual/physical constraints of traditional simulators. However, they…
Humanoid facial expression shadowing enables robots to realistically imitate human facial expressions in real time, which is critical for lifelike, facially expressive humanoid robots and affective human-robot interaction. Existing progress…
Animation of humanoid characters is essential in various graphics applications, but requires significant time and cost to create realistic animations. We propose an approach to synthesize 4D animated sequences of input static 3D humanoid…
Human action-reaction synthesis, a fundamental challenge in modeling causal human interactions, plays a critical role in applications ranging from virtual reality to social robotics. While diffusion-based models have demonstrated promising…
Humans interact with objects all the time. Enabling a humanoid to learn human-object interaction (HOI) is a key step for future smart animation and intelligent robotics systems. However, recent progress in physics-based HOI requires…
Humans constantly interact with their surrounding environments. Current human-centric generative models mainly focus on synthesizing humans plausibly interacting with static scenes and objects, while the dynamic human action-reaction…
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…
Existing multi-person human reconstruction approaches mainly focus on recovering accurate poses or avoiding penetration, but overlook the modeling of close interactions. In this work, we tackle the task of reconstructing closely interactive…
As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through gestures and facial…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Vision-based human-to-robot handover is an important and challenging task in human-robot interaction. Recent work has attempted to train robot policies by interacting with dynamic virtual humans in simulated environments, where the policies…
Humans possess an exceptional ability to imagine 4D scenes, encompassing both motion and 3D geometry, from a single still image. This ability is rooted in our accumulated observations of similar scenes and an intuitive understanding of…
Incorporating physics in human motion capture to avoid artifacts like floating, foot sliding, and ground penetration is a promising direction. Existing solutions always adopt kinematic results as reference motions, and the physics is…
Recent progress in video generation has led to substantial improvements in visual fidelity, yet ensuring physically consistent motion remains a fundamental challenge. Intuitively, this limitation can be attributed to the fact that…
Interactable objects are ubiquitous in our daily lives. Recent advances in 3D generative models make it possible to automate the modeling of these objects, benefiting a range of applications from 3D printing to the creation of robot…
Realistic digital avatars require expressive and dynamic hair motion; however, most existing head avatar methods assume rigid hair movement. These methods often fail to disentangle hair from the head, representing it as a simple outer shell…
We present a new method for generating controllable, dynamically responsive, and photorealistic human animations. Given an image of a person, our system allows the user to generate Physically plausible Upper Body Animation (PUBA) using…
Realistic object interactions are crucial for creating immersive virtual experiences, yet synthesizing realistic 3D object dynamics in response to novel interactions remains a significant challenge. Unlike unconditional or text-conditioned…
Haptic feedback is an important component of creating an immersive mixed reality experience. Traditionally, haptic forces are rendered in response to the user's interactions with the virtual environment. In this work, we explore the idea of…