相关论文: ModSkill: Physical Character Skill Modularization

The incredible feats of athleticism demonstrated by humans are made possible in part by a vast repertoire of general-purpose motor skills, acquired through years of practice and experience. These skills not only enable humans to perform…

Learning natural and diverse behaviors from human motion datasets remains challenging in physics-based character control. Existing conditional adversarial models often suffer from tight and biased embedding distributions where embeddings…

We tackle the challenges of synthesizing versatile, physically simulated human motions for full-body object manipulation. Unlike prior methods that are focused on detailed motion tracking, trajectory following, or teleoperation, our…

We present a deep learning method for composite and task-driven motion control for physically simulated characters. In contrast to existing data-driven approaches using reinforcement learning that imitate full-body motions, we learn…

Mimicry is a fundamental learning mechanism in humans, enabling individuals to learn new tasks by observing and imitating experts. However, applying this ability to robots presents significant challenges due to the inherent differences…

While imitation learning has shown impressive results in single-task robot manipulation, scaling it to multi-task settings remains a fundamental challenge due to issues such as suboptimal demonstrations, trajectory noise, and behavioral…

We present a method for gesture detection and localisation based on multi-scale and multi-modal deep learning. Each visual modality captures spatial information at a particular spatial scale (such as motion of the upper body or a hand), and…

This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, foot tilting, and stepping strategies. The policy is trained…

Contemporary sensorimotor learning approaches typically start with an existing complex agent (e.g., a robotic arm), which they learn to control. In contrast, this paper investigates a modular co-evolution strategy: a collection of primitive…

One-shot imitation is to learn a new task from a single demonstration, yet it is a challenging problem to adopt it for complex tasks with the high domain diversity inherent in a non-stationary environment. To tackle the problem, we explore…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

Learning various motor skills for quadrupedal robots is a challenging problem that requires careful design of task-specific mathematical models or reward descriptions. In this work, we propose to learn a single capable policy using deep…

Embodied AI represents a paradigm in AI research where artificial agents are situated within and interact with physical or virtual environments. Despite the recent progress in Embodied AI, it is still very challenging to learn the…

Video data is more cost-effective than motion capture data for learning 3D character motion controllers, yet synthesizing realistic and diverse behaviors directly from videos remains challenging. Previous approaches typically rely on…

Learning skills by imitation is a promising concept for the intuitive teaching of robots. A common way to learn such skills is to learn a parametric model by maximizing the likelihood given the demonstrations. Yet, human demonstrations are…

The field has made significant progress in synthesizing realistic human motion driven by various modalities. Yet, the need for different methods to animate various body parts according to different control signals limits the scalability of…

Language-conditioned policies allow robots to interpret and execute human instructions. Learning such policies requires a substantial investment with regards to time and compute resources. Still, the resulting controllers are highly…

Learning diverse skills is one of the main challenges in robotics. To this end, imitation learning approaches have achieved impressive results. These methods require explicitly labeled datasets or assume consistent skill execution to enable…

Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic…

Existing stylized motion generation models have shown their remarkable ability to understand specific style information from the style motion, and insert it into the content motion. However, capturing intra-style diversity, where a single…