相关论文: HumanRig: Learning Automatic Rigging for Humanoid …

Segmenting humans in 3D indoor scenes has become increasingly important with the rise of human-centered robotics and AR/VR applications. To this end, we propose the task of joint 3D human semantic segmentation, instance segmentation and…

Most existing 3D assembly methods treat the problem as pure pose estimation, rearranging observed parts via rigid transformations. In contrast, human assembly naturally couples structural reasoning with holistic shape inference. Inspired by…

Unconditional human image generation is an important task in vision and graphics, which enables various applications in the creative industry. Existing studies in this field mainly focus on "network engineering" such as designing new…

Whole-body geometric calibration of humanoid robots using classical robot calibration methods is a timeconsuming and experimentally burdensome task. However, despite its significance for accurate control and simulation, it is often…

Machine learning-based surrogate models have emerged as a powerful tool to accelerate simulation-driven scientific workflows, but their adoption is limited by the lack of large-scale, diverse, and standardized datasets for physics-based…

This paper presents JAEGER, a dual-level whole-body controller for humanoid robots that addresses the challenges of training a more robust and versatile policy. Unlike traditional single-controller approaches, JAEGER separates the control…

A dominant paradigm for teaching humanoid robots complex skills is to retarget human motions as kinematic references to train reinforcement learning (RL) policies. However, existing retargeting pipelines often struggle with the significant…

High absolute accuracy is an essential prerequisite for a humanoid robot to autonomously and robustly perform manipulation tasks while avoiding obstacles. We present for the first time a kinematic model for a humanoid upper body…

3D human reconstruction and animation are long-standing topics in computer graphics and vision. However, existing methods typically rely on sophisticated dense-view capture and/or time-consuming per-subject optimization procedures. To…

Creating a high-fidelity, animatable 3D full-body avatar from a single image is a challenging task due to the diverse appearance and poses of humans and the limited availability of high-quality training data. To achieve fast and…

Human motion synthesis is a long-standing problem with various applications in digital twins and the Metaverse. However, modern deep learning based motion synthesis approaches barely consider the physical plausibility of synthesized motions…

Synthetic data has emerged as a promising source for 3D human research as it offers low-cost access to large-scale human datasets. To advance the diversity and annotation quality of human models, we introduce a new synthetic dataset,…

Scalable learning of humanoid robots is crucial for their deployment in real-world applications. While traditional approaches primarily rely on reinforcement learning or teleoperation to achieve whole-body control, they are often limited by…

We consider the problem of recovering a single person's 3D human mesh from in-the-wild crowded scenes. While much progress has been in 3D human mesh estimation, existing methods struggle when test input has crowded scenes. The first reason…

We consider the problem of obese human mesh recovery, i.e., fitting a parametric human mesh to images of obese people. Despite obese person mesh fitting being an important problem with numerous applications (e.g., healthcare), much recent…

Aligning a template to 3D human point clouds is a long-standing problem crucial for tasks like animation, reconstruction, and enabling supervised learning pipelines. Recent data-driven methods leverage predicted surface correspondences.…

A significant bottleneck in humanoid policy learning is the acquisition of large-scale, diverse datasets, as collecting reliable real-world data remains both difficult and cost-prohibitive. To address this limitation, we introduce…

Human shape spaces have been extensively studied, as they are a core element of human shape and pose inference tasks. Classic methods for creating a human shape model register a surface template mesh to a database of 3D scans and use…

3D human pose and shape estimation (a.k.a. "human mesh recovery") has achieved substantial progress. Researchers mainly focus on the development of novel algorithms, while less attention has been paid to other critical factors involved.…

Model-based 3D pose and shape estimation methods reconstruct a full 3D mesh for the human body by estimating several parameters. However, learning the abstract parameters is a highly non-linear process and suffers from image-model…