相关论文: G-DReaM: Graph-conditioned Diffusion Retargeting a…

Retargeting human motion to heterogeneous robots is a fundamental challenge in robotics, primarily due to the severe kinematic and dynamic discrepancies between varying embodiments. Existing solutions typically resort to training…

We propose a novel graph-driven generative model, that unifies multiple heterogeneous learning tasks into the same framework. The proposed model is based on the fact that heterogeneous learning tasks, which correspond to different…

Cross-embodiment dexterous grasping aims to generate stable and diverse grasps for robotic hands with heterogeneous kinematic structures. Existing methods are often tailored to specific hand designs and fail to generalize to unseen hand…

Text-driven motion editing and intra-structural retargeting, where source and target share topology but may differ in bone lengths, are traditionally handled by fragmented pipelines with incompatible inputs and representations: editing…

Preserving semantics, in particular in terms of contacts, is a key challenge when retargeting motion between characters of different morphologies. Our solution relies on a low-dimensional embedding of the character's mesh, based on rigged…

This work presents a motion retargeting approach for legged robots, aimed at transferring the dynamic and agile movements to robots from source motions. In particular, we guide the imitation learning procedures by transferring motions from…

With the growing interest in foundation models for brain signals, graph-based pretraining has emerged as a promising paradigm for learning transferable representations from connectome data. However, existing contrastive and masked…

Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…

Motion retargeting is the long-standing problem in character animation that consists in transferring and adapting the motion of a source character to another target character. A typical application is the creation of motion sequences from…

Most real-world networks are noisy and incomplete samples from an unknown target distribution. Refining them by correcting corruptions or inferring unobserved regions typically improves downstream performance. Inspired by the impressive…

We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data. Our approach is based on two…

Rearranging deformable objects is a long-standing challenge in robotic manipulation for the high dimensionality of configuration space and the complex dynamics of deformable objects. We present a novel framework, Graph-Transporter, for…

Motion retargeting holds a premise of offering a larger set of motion data for characters and robots with different morphologies. Many prior works have approached this problem via either handcrafted constraints or paired motion datasets,…

We propose a learning framework to find the representation of a robot's kinematic structure and motion embedding spaces using graph neural networks (GNN). Finding a compact and low-dimensional embedding space for complex phenomena is a key…

The automatic co-speech gesture generation draws much attention in computer animation. Previous works designed network structures on individual datasets, which resulted in a lack of data volume and generalizability across different motion…

Recent diffusion-based methods have achieved impressive results on animating images of human subjects. However, most of that success has built on human-specific body pose representations and extensive training with labeled real videos. In…

Generation of graphs is a major challenge for real-world tasks that require understanding the complex nature of their non-Euclidean structures. Although diffusion models have achieved notable success in graph generation recently, they are…

Humanoid motion tracking policies are central to building teleoperation pipelines and hierarchical controllers, yet they face a fundamental challenge: the embodiment gap between humans and humanoid robots. Current approaches address this…

Generalizing locomotion policies across diverse legged robots with varying morphologies is a key challenge due to differences in observation/action dimensions and system dynamics. In this work, we propose Multi-Loco, a novel unified…

Grasping is a fundamental skill in robotics with diverse applications across medical, industrial, and domestic domains. However, current approaches for predicting valid grasps are often tailored to specific grippers, limiting their…