相关论文: Humanoid Motion Scripting with Postural Synergies
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…
Humanoid motion control has witnessed significant breakthroughs in recent years, with deep reinforcement learning (RL) emerging as a primary catalyst for achieving complex, human-like behaviors. However, the high dimensionality and…
Generating realistic human motion from given action descriptions has experienced significant advancements because of the emerging requirement of digital humans. While recent works have achieved impressive results in generating motion…
Recent advances in data-driven reinforcement learning and motion tracking have substantially improved humanoid locomotion, yet critical practical challenges remain. In particular, while low-level motion tracking and trajectory-following…
We address the problem of human motion tracking by registering a surface to 3-D data. We propose a method that iteratively computes two things: Maximum likelihood estimates for both the kinematic and free-motion parameters of a kinematic…
Conditional human motion generation is an important topic with many applications in virtual reality, gaming, and robotics. While prior works have focused on generating motion guided by text, music, or scenes, these typically result in…
Existing video generation models predominantly emphasize appearance fidelity while exhibiting limited ability to synthesize complex human motions, such as whole-body movements, long-range dynamics, and fine-grained human-environment…
Planning balanced and collision-free motion for humanoid robots is non-trivial, especially when they are operated in complex environments, such as reaching targets behind obstacles or through narrow passages. We propose a method that allows…
Human motion generation involves creating natural sequences of human body poses, widely used in gaming, virtual reality, and human-computer interaction. It aims to produce lifelike virtual characters with realistic movements, enhancing…
Human motion generation and editing are key components of computer vision. However, current approaches in this field tend to offer isolated solutions tailored to specific tasks, which can be inefficient and impractical for real-world…
Video-based human motion transfer creates video animations of humans following a source motion. Current methods show remarkable results for tightly-clad subjects. However, the lack of temporally consistent handling of plausible clothing…
We present a generative model that learns to synthesize human motion from limited training sequences. Our framework provides conditional generation and blending across multiple temporal resolutions. The model adeptly captures human motion…
Large-scale capture of human motion with diverse, complex scenes, while immensely useful, is often considered prohibitively costly. Meanwhile, human motion alone contains rich information about the scene they reside in and interact with.…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills. However, achieving agile and coordinated whole-body motions remains a significant challenge due to the dynamics mismatch between…
Coordinated human movement depends on the integration of multisensory inputs, sensorimotor transformation, and motor execution, as well as sensory feedback resulting from body-environment interaction. Building dynamic models of the…
This work focuses on generating realistic, physically-based human behaviors from multi-modal inputs, which may only partially specify the desired motion. For example, the input may come from a VR controller providing arm motion and body…
Reconstructing physically plausible human motion from monocular videos remains a challenging problem in computer vision and graphics. Existing methods primarily focus on kinematics-based pose estimation, often leading to unrealistic results…
For humanoids to be deployed in demanding situations, such as search and rescue, highly intelligent decision making and proficient sensorimotor skill is expected. A promising solution is to leverage human prowess by interconnecting robot…
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…