相关论文: Homogeneous Dynamics Space for Heterogeneous Human…

Understanding human behavior is key for robots and intelligent systems that share a space with people. Accordingly, research that enables such systems to perceive, track, learn and predict human behavior as well as to plan and interact with…

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…

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,…

Forecasting long-term 3D human motion is challenging: the stochasticity of human behavior makes it hard to generate realistic human motion from the input sequence alone. Information on the scene environment and the motion of nearby people…

We have recently seen tremendous progress in diffusion advances for generating realistic human motions. Yet, they largely disregard the multi-human interactions. In this paper, we present InterGen, an effective diffusion-based approach that…

Although significant progress has been achieved on monocular maker-less human motion capture in recent years, it is still hard for state-of-the-art methods to obtain satisfactory results in occlusion scenarios. There are two main reasons:…

A long-standing goal in computer vision is to capture, model, and realistically synthesize human behavior. Specifically, by learning from data, our goal is to enable virtual humans to navigate within cluttered indoor scenes and naturally…

This paper introduces a novel deep-learning approach for human-to-robot motion retargeting, enabling robots to mimic human poses accurately. Contrary to prior deep-learning-based works, our method does not require paired human-to-robot…

The kinetic data structure (KDS) framework is a powerful tool for maintaining various geometric configurations of continuously moving objects. In this work, we introduce the kinetic hourglass, a novel KDS implementation designed to compute…

Humanoid motion control has witnessed significant breakthroughs in recent years, with deep reinforcement learning (RL) emerging as a primary catalyst for achieving complex, human-like behaviors. However, the high dimensionality and…

We present LARNet, a novel end-to-end approach for generating human action videos. A joint generative modeling of appearance and dynamics to synthesize a video is very challenging and therefore recent works in video synthesis have proposed…

A key challenge for an agent learning to interact with the world is to reason about physical properties of objects and to foresee their dynamics under the effect of applied forces. In order to scale learning through interaction to many…

To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…

Human motion prediction aims at generating future frames of human motion based on an observed sequence of skeletons. Recent methods employ the latest hidden states of a recurrent neural network (RNN) to encode the historical skeletons,…

Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…

From loco-motion to dextrous manipulation, humanoid robots have made remarkable strides in demonstrating complex full-body capabilities. However, the majority of current robot learning datasets and benchmarks mainly focus on stationary…

Generative models for audio-conditioned dance motion synthesis map music features to dance movements. Models are trained to associate motion patterns to audio patterns, usually without an explicit knowledge of the human body. This approach…

To date, little attention has been given to multi-view 3D human mesh estimation, despite real-life applicability (e.g., motion capture, sport analysis) and robustness to single-view ambiguities. Existing solutions typically suffer from poor…

We introduce SynPlay, a large-scale synthetic human dataset purpose-built for advancing multi-perspective human localization, with a predominant focus on aerial-view perception. SynPlay departs from traditional synthetic datasets by…

The rapid advancement of robotics, spanning expanded capabilities, more intuitive interaction, and more integration into real-world workflows, is reshaping what it means for humans and robots to coexist. Beyond sharing physical space, this…