相关论文: PhysReaction: Physically Plausible Real-Time Human…
Dexterous manipulation is a crucial yet highly complex challenge in humanoid robotics, demanding precise, adaptable, and sample-efficient learning methods. As humanoid robots are usually designed to operate in human-centric environments and…
Recent advances in deep reinforcement learning (RL) based techniques combined with training in simulation have offered a new approach to developing robust controllers for legged robots. However, the application of such approaches to real…
The inherent difficulty and limited scalability of collecting manipulation data using multi-fingered robot hand hardware platforms have resulted in severe data scarcity, impeding research on data-driven dexterous manipulation policy…
This work presents REFLEX: Robotic Explanations to FaiLures and Human EXpressions, a comprehensive multimodal dataset capturing human reactions to robot failures and subsequent explanations in collaborative settings. It aims to facilitate…
Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel…
\textbf{Synthetic human dynamics} aims to generate photorealistic videos of human subjects performing expressive, intention-driven motions. However, current approaches face two core challenges: (1) \emph{geometric inconsistency} and…
In recent years, quadruped robots have attracted significant attention due to their practical advantages in maneuverability, particularly when navigating rough terrain and climbing stairs. As these robots become more integrated into various…
Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challenge. We present a system that combines a modular…
Humanoid robots could benefit from using their upper bodies for support contacts, enhancing their workspace, stability, and ability to perform contact-rich and pushing tasks. In this paper, we propose a unified approach that combines an…
Imitation learning frameworks that learn robot control policies from demonstrators' motions via hand-mounted demonstration interfaces have attracted increasing attention. However, due to differences in physical characteristics between…
The production of animation is a resource intensive process in game companies. Therefore, techniques to synthesize animations have been developed. However, these procedural techniques offer limited adaptability by animation artists. In…
Virtual Reality is used successfully to treat people for regular phobias. A new challenge is to develop Virtual Reality Exposure Training for social skills. Virtual actors in such systems have to show appropriate social behavior including…
We explore how humanoid robots can be repurposed as haptic media, extending beyond their conventional role as social, assistive, collaborative agents. To illustrate this approach, we implemented HumanoidTurk, taking a first step toward a…
Generative manipulation policies can fail catastrophically under deployment-time distribution shift, yet many failures are near-misses: the robot reaches almost-correct poses and would succeed with a small corrective motion. We propose…
To enable more natural face-to-face interactions, conversational agents need to adapt their behavior to their interlocutors. One key aspect of this is generation of appropriate non-verbal behavior for the agent, for example facial gestures,…
Emotion serves as an essential component in daily human interactions. Existing human motion generation frameworks do not consider the impact of emotions, which reduces naturalness and limits their application in interactive tasks, such as…
Despite advances in dance generation, most methods are trained in the skeletal domain and ignore mesh-level physical constraints. As a result, motions that look plausible as joint trajectories often exhibit body self-penetration and…
Machine perception is an important prerequisite for safe interaction and locomotion in dynamic environments. This requires not only the timely perception of surrounding geometries and distances but also the ability to react to changing…
This article suggests a reasoning-guided vision-language-motion diffusion framework (RG-VLMD) for generating instruction-aware co-speech gestures for humanoid robots in educational scenarios. The system integrates multi-modal affective…
Motion mimicking is a foundational task in physics-based character animation. However, most existing motion mimicking methods are built upon reinforcement learning (RL) and suffer from heavy reward engineering, high variance, and slow…