相关论文: Physics-informed Ground Reaction Dynamics from Hum…

We propose a model that is able to perform unsupervised physical parameter estimation of systems from video, where the differential equations governing the scene dynamics are known, but labeled states or objects are not available. Existing…

Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…

Understanding the movement behaviours of individuals and the way they react to the external world is a key component of any problem that involves the modelling of human dynamics at a physical level. In particular, it is crucial to capture…

The relative balance between physics and data within any physics-informed machine learner is an important modelling consideration to ensure that the benefits of both physics and data-based approaches are maximised. An over reliance on…

As the embodiment gap between a robot and a human narrows, new opportunities arise to leverage datasets of humans interacting with their surroundings for robot learning. We propose a novel technique for training sensorimotor policies with…

Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…

Learning-based grasping can afford real-time grasp motion planning of multi-fingered robotics hands thanks to its high computational efficiency. However, learning-based methods are required to explore large search spaces during the learning…

The deployment of autonomous navigation systems on ships necessitates accurate motion prediction models tailored to individual vessels. Traditional physics-based models, while grounded in hydrodynamic principles, often fail to account for…

We present a method for efficient differentiable simulation of articulated bodies. This enables integration of articulated body dynamics into deep learning frameworks, and gradient-based optimization of neural networks that operate on…

The image-to-image translation abilities of generative learning models have recently made significant progress in the estimation of complex (steered) mappings between image distributions. While appearance based tasks like image in-painting…

While computer vision has advanced considerably for general object detection and tracking, the specific problem of fast-moving tiny objects remains underexplored. This paper addresses the significant challenge of detecting and tracking…

Although psychological research indicates that bodily expressions convey important affective information, to date research in emotion recognition focused mainly on facial expression or voice analysis. In this paper we propose an approach to…

We propose DoubleFusion, a new real-time system that combines volumetric dynamic reconstruction with data-driven template fitting to simultaneously reconstruct detailed geometry, non-rigid motion and the inner human body shape from a single…

Building energy modeling is a key tool for optimizing the performance of building energy systems. Historically, a wide spectrum of methods has been explored -- ranging from conventional physics-based models to purely data-driven techniques.…

Drawing inspiration from the lateral lines of fish, the inference of flow characteristics via surface-based data has drawn considerable attention. The current approaches often rely on analytical methods tailored exclusively for potential…

The ground structure can substantially influence seismic ground motion underscoring the need to develop a ground structure model with sufficient reliability in terms of ground motion estimation for earthquake damage mitigation. While many…

Iterative solvers are widely used to accurately simulate physical systems. These solvers require initial guesses to generate a sequence of improving approximate solutions. In this contribution, we introduce a novel method to accelerate…

Reactive motion generation in dynamic and unstructured scenarios is typically subject to essentially static perception and system dynamics. Reliably modeling dynamic obstacles and optimizing collision-free trajectories under perceptive and…

Humans intuitively recognize objects' physical properties and predict their motion, even when the objects are engaged in complicated interactions. The abilities to perform physical reasoning and to adapt to new environments, while intrinsic…

The ability to interact and understand the environment is a fundamental prerequisite for a wide range of applications from robotics to augmented reality. In particular, predicting how deformable objects will react to applied forces in real…