相关论文: InterMimic: Towards Universal Whole-Body Control f…

Robots are becoming increasingly popular in a wide range of environments due to their exceptional work capacity, precision, efficiency, and scalability. This development has been further encouraged by advances in Artificial Intelligence,…

Generating realistic 3D human-object interactions (HOIs) remains a challenging task due to the difficulty of modeling detailed interaction dynamics. Existing methods treat human and object motions independently, resulting in physically…

The true promise of humanoid robotics lies beyond single-agent autonomy: two or more humanoids must engage in physically grounded, socially meaningful whole-body interactions that echo the richness of human social interaction. However,…

Many recent advances in robotic manipulation have come through imitation learning, yet these rely largely on mimicking a particularly hard-to-acquire form of demonstrations: those collected on the same robot in the same room with the same…

As robots become more integrated in society, their ability to coordinate with other robots and humans on multi-modal tasks (those with multiple valid solutions) is crucial. Such behaviors can be learned from expert demonstrations via…

A major challenge in humanoid robotics is designing a unified interface for commanding diverse whole-body behaviors, from precise footstep sequences to partial-body mimicry and joystick teleoperation. We introduce the Masked Humanoid…

Human-Object Interaction (HOI) Detection is an important problem to understand how humans interact with objects. In this paper, we explore Interactiveness Knowledge which indicates whether human and object interact with each other or not.…

We present a method for reproducing complex multi-character interactions for physically simulated humanoid characters using deep reinforcement learning. Our method learns control policies for characters that imitate not only individual…

Human-object interaction detection (HOID) refers to localizing interactive human-object pairs in images and identifying the interactions. Since there could be an exponential number of object-action combinations, labeled data is limited -…

Reconstructing 3D human-object interaction (HOI) from single-view RGB images is challenging due to the absence of depth information and potential occlusions. Existing methods simply predict the body poses merely rely on network training on…

Hand-Object Interaction (HOI) generation has significant application potential. However, current 3D HOI motion generation approaches heavily rely on predefined 3D object models and lab-captured motion data, limiting generalization…

We present a unified framework for multi-task locomotion and manipulation policy learning grounded in a contact-explicit representation. Instead of designing different policies for different tasks, our approach unifies the definition of a…

Current digital human studies focusing on lip-syncing and body movement are no longer sufficient to meet the growing industrial demand, while human video generation techniques that support interacting with real-world environments (e.g.,…

We present a universal motion representation that encompasses a comprehensive range of motor skills for physics-based humanoid control. Due to the high dimensionality of humanoids and the inherent difficulties in reinforcement learning,…

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…

Humans are experts at high-fidelity imitation -- closely mimicking a demonstration, often in one attempt. Humans use this ability to quickly solve a task instance, and to bootstrap learning of new tasks. Achieving these abilities in…

Imitation learning uses data for training policies to solve complex tasks. However, when the training data is collected from human demonstrators, it often leads to multimodal distributions because of the variability in human actions. Most…

We present a novel method for populating 3D indoor scenes with virtual humans that can navigate in the environment and interact with objects in a realistic manner. Existing approaches rely on training sequences that contain captured human…

We tackle the problem of developing humanoid loco-manipulation skills with deep imitation learning. The difficulty of collecting task demonstrations and training policies for humanoids with a high degree of freedom presents substantial…

Human-Object Interaction (HOI) consists of human, object and implicit interaction/verb. Different from previous methods that directly map pixels to HOI semantics, we propose a novel perspective for HOI learning in an analytical manner. In…