相关论文: PRIMAL: Physically Reactive and Interactive Motor …

We focus on the problem of learning a single motor module that can flexibly express a range of behaviors for the control of high-dimensional physically simulated humanoids. To do this, we propose a motor architecture that has the general…

Imitation learning is an effective tool for robotic learning tasks where specifying a reinforcement learning (RL) reward is not feasible or where the exploration problem is particularly difficult. Imitation, typically behavior cloning or…

Human-robot collaboration is on the rise. Robots need to increasingly improve the efficiency and smoothness with which they assist humans by properly anticipating a human's intention. To do so, prediction models need to increase their…

We present DreamAvatar, a text-and-shape guided framework for generating high-quality 3D human avatars with controllable poses. While encouraging results have been reported by recent methods on text-guided 3D common object generation,…

Image animation consists of generating a video sequence so that an object in a source image is animated according to the motion of a driving video. Our framework addresses this problem without using any annotation or prior information about…

In this study, our goal is to create interactive avatar agents that can autonomously plan and animate nuanced facial movements realistically, from both visual and behavioral perspectives. Given high-level inputs about the environment and…

Humanoid locomotion is a challenging task due to its inherent complexity and high-dimensional dynamics, as well as the need to adapt to diverse and unpredictable environments. In this work, we introduce a novel learning framework for…

How do we enable AI systems to efficiently learn in the real-world? First-principles models are widely used to simulate natural systems, but often fail to capture real-world complexity due to simplifying assumptions. In contrast, deep…

To effectively interrogate UAV-based images for detecting objects of interest, such as humans, it is essential to acquire large-scale UAV-based datasets that include human instances with various poses captured from widely varying viewing…

Training perceptive humanoid locomotion policies that traverse complex terrains with natural gaits remains an open challenge, typically demanding multi-stage training pipelines, adversarial objectives, or extensive real-world calibration.…

Traditional 3D morphable face models (3DMMs) provide fine-grained control over expression but cannot easily capture geometric and appearance details. Neural volumetric representations approach photorealism but are hard to animate and do not…

Inferring full-body poses from Head Mounted Devices, which capture only 3-joint observations from the head and wrists, is a challenging task with wide AR/VR applications. Previous attempts focus on learning one-stage motion mapping and thus…

With the booming of virtual reality (VR) technology, there is a growing need for customized 3D avatars. However, traditional methods for 3D avatar modeling are either time-consuming or fail to retain similarity to the person being modeled.…

We present READ Avatars, a 3D-based approach for generating 2D avatars that are driven by audio input with direct and granular control over the emotion. Previous methods are unable to achieve realistic animation due to the many-to-many…

Grasping moving objects, such as goods on a belt or living animals, is an important but challenging task in robotics. Conventional approaches rely on a set of manually defined object motion patterns for training, resulting in poor…

We propose X-Portrait, an innovative conditional diffusion model tailored for generating expressive and temporally coherent portrait animation. Specifically, given a single portrait as appearance reference, we aim to animate it with motion…

We introduce PhysicalAgent, an agentic framework for robotic manipulation that integrates iterative reasoning, diffusion-based video generation, and closed-loop execution. Given a textual instruction, our method generates short video…

The deployment of autonomous virtual avatars (in extended reality) and robots in human group activities -- such as rehabilitation therapy, sports, and manufacturing -- is expected to increase as these technologies become more pervasive.…

Generating realistic talking faces is an interesting and long-standing topic in the field of computer vision. Although significant progress has been made, it is still challenging to generate high-quality dynamic faces with personalized…

Learning an accurate model of the environment is essential for model-based control tasks. Existing methods in robotic visuomotor control usually learn from data with heavily labelled actions, object entities or locations, which can be…