相关论文: Retargeting Matters: General Motion Retargeting fo…

Human trajectory prediction has received increased attention lately due to its importance in applications such as autonomous vehicles and indoor robots. However, most existing methods make predictions based on human-labeled trajectories and…

Learning a general motion tracking policy from human motions shows great potential for versatile humanoid whole-body control. Conventional approaches are not only inefficient in data utilization and training processes but also exhibit…

Goal-conditioned hierarchical reinforcement learning (HRL) presents a promising approach for enabling effective exploration in complex, long-horizon reinforcement learning (RL) tasks through temporal abstraction. Empirically, heightened…

Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control for humanlike long-time, dynamic fighting remains particularly challenging due to the stringent requirements on agility and…

We present a data-driven framework for unsupervised human motion retargeting that animates a target subject with the motion of a source subject. Our method is correspondence-free, requiring neither spatial correspondences between the source…

Enabling humanoid robots to achieve natural and dynamic locomotion across a wide range of speeds, including smooth transitions from walking to running, presents a significant challenge. Existing deep reinforcement learning methods typically…

Human motion modelling is a classical problem at the intersection of graphics and computer vision, with applications spanning human-computer interaction, motion synthesis, and motion prediction for virtual and augmented reality. Following…

Long-horizon, high-dynamic motion tracking on humanoids remains brittle because absolute joint commands cannot compensate model-plant mismatch, leading to error accumulation. We propose RobotDancing, a simple, scalable framework that…

It remains challenging to achieve human-like locomotion in legged robots due to fundamental discrepancies between biological and mechanical structures. Although imitation learning has emerged as a promising approach for generating natural…

Transferring human motion and appearance between videos of human actors remains one of the key challenges in Computer Vision. Despite the advances from recent image-to-image translation approaches, there are several transferring contexts…

Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…

Reinforcement learning (RL)-based motion imitation methods trained on demonstration data can effectively learn natural and expressive motions with minimal reward engineering but often struggle to generalize to novel environments. We address…

The primary obstacle for applying reinforcement learning (RL) to real-world robotics is the design of effective reward functions. While recently learning-based Process Reward Models (PRMs) are a promising direction, they are often hindered…

Humanoid robots are expected to operate in human-centered environments where safe and natural physical interaction is essential. However, most recent reinforcement learning (RL) policies emphasize rigid tracking and suppress external…

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…

We propose MR HuBo(Motion Retargeting leveraging a HUman BOdy prior), a cost-effective and convenient method to collect high-quality upper body paired <robot, human> pose data, which is essential for data-driven motion retargeting methods.…

One of the key reasons for the high sample complexity in reinforcement learning (RL) is the inability to transfer knowledge from one task to another. In standard multi-task RL settings, low-reward data collected while trying to solve one…

Accurate human trajectory prediction is crucial for robotics navigation and autonomous driving. Recent research has demonstrated that incorporating goal guidance significantly enhances prediction accuracy by reducing uncertainty and…

We address the challenge of developing a generalizable neural tracking controller for dexterous manipulation from human references. This controller aims to manage a dexterous robot hand to manipulate diverse objects for various purposes…

Human-designed reward functions for reinforcement learning (RL) agents are frequently misaligned with the humans' true, unobservable objectives, and thus act only as proxies. Optimizing for a misspecified proxy reward function often induces…