相关论文: Humanoid Motion Scripting with Postural Synergies

This work make the first attempt to generate articulated human motion sequence from a single image. On the one hand, we utilize paired inputs including human skeleton information as motion embedding and a single human image as appearance…

Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…

Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…

Human demonstrations as prompts are a powerful way to program robots to do long-horizon manipulation tasks. However, translating these demonstrations into robot-executable actions presents significant challenges due to execution mismatches…

Scalable learning of humanoid robots is crucial for their deployment in real-world applications. While traditional approaches primarily rely on reinforcement learning or teleoperation to achieve whole-body control, they are often limited by…

Human movement analysis is a key area of research in robotics, biomechanics, and data science. It encompasses tracking, posture estimation, and movement synthesis. While numerous methodologies have evolved over time, a systematic and…

Human motion transfer aims to transfer motions from a target dynamic person to a source static one for motion synthesis. An accurate matching between the source person and the target motion in both large and subtle motion changes is vital…

Learning generic skills for humanoid robots interacting with 3D scenes by mimicking human data is a key research challenge with significant implications for robotics and real-world applications. However, existing methodologies and…

Human motion synthesis is a fundamental task in computer animation. Recent methods based on diffusion models or GPT structure demonstrate commendable performance but exhibit drawbacks in terms of slow sampling speeds and error accumulation.…

Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly…

Endowing humanoid robots with the ability to perform highly dynamic motions akin to human-level acrobatics has been a long-standing challenge. Successfully performing these maneuvers requires close consideration of the underlying physics in…

Learning dexterous and agile policy for humanoid and dexterous hand control requires large-scale demonstrations, but collecting robot-specific data is prohibitively expensive. In contrast, abundant human motion data is readily available…

Human motion prediction is an essential step for efficient and safe human-robot collaboration. Current methods either purely rely on representing the human joints in some form of neural network-based architecture or use regression models…

Human motion analysis tasks, such as temporal 3D pose estimation, motion prediction, and motion in-betweening, play an essential role in computer vision. However, current paradigms suffer from severe fragmentation. First, the field is split…

Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…

This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we…

Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…

We revisit human motion synthesis, a task useful in various real world applications, in this paper. Whereas a number of methods have been developed previously for this task, they are often limited in two aspects: focusing on the poses while…

Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their partners' states and task requirements. Equipping robots with…

Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…