相关论文: PhysHMR: Learning Humanoid Control Policies from V…

Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical, physical execution remains a significant challenge. Existing techniques in the graphics community often…

Generating sequences of human-like motions for humanoid robots presents challenges in collecting and analyzing reference human motions, synthesizing new motions based on these reference motions, and mapping the generated motion onto…

Reconstructing human dynamic vision from brain activity is a challenging task with great scientific significance. Although prior video reconstruction methods have made substantial progress, they still suffer from several limitations,…

Monocular dynamic reconstruction is a challenging and long-standing vision problem due to the highly ill-posed nature of the task. Existing approaches depend on templates, are effective only in quasi-static scenes, or fail to model 3D…

We present Monocular Neural Parametric Head Models (MonoNPHM) for dynamic 3D head reconstructions from monocular RGB videos. To this end, we propose a latent appearance space that parameterizes a texture field on top of a neural parametric…

Motion mimicking is a foundational task in physics-based character animation. However, most existing motion mimicking methods are built upon reinforcement learning (RL) and suffer from heavy reward engineering, high variance, and slow…

We present a novel method for recovering the absolute pose and shape of a human in a pre-scanned scene given a single image. Unlike previous methods that perform sceneaware mesh optimization, we propose to first estimate absolute position…

We aim to build complex humanoid agents that integrate perception, motor control, and memory. In this work, we partly factor this problem into low-level motor control from proprioception and high-level coordination of the low-level skills…

We have recently seen tremendous progress in the neural advances for photo-real human modeling and rendering. However, it's still challenging to integrate them into an existing mesh-based pipeline for downstream applications. In this paper,…

Existing human Motion Capture (MoCap) methods mostly focus on the visual similarity while neglecting the physical plausibility. As a result, downstream tasks such as driving virtual human in 3D scene or humanoid robots in real world suffer…

We present Score-Guided Human Mesh Recovery (ScoreHMR), an approach for solving inverse problems for 3D human pose and shape reconstruction. These inverse problems involve fitting a human body model to image observations, traditionally…

Human-to-humanoid imitation learning aims to learn a humanoid whole-body controller from human motion. Motion retargeting is a crucial step in enabling robots to acquire reference trajectories when exploring locomotion skills. However,…

Discovering physical laws directly from high-dimensional visual data is a long-standing human pursuit but remains a formidable challenge for machines, representing a fundamental goal of scientific intelligence. This task is inherently…

Human mesh recovery (HMR) from a single RGB image is inherently ambiguous, as multiple 3D poses can correspond to the same 2D observation. Recent diffusion-based methods tackle this by generating various hypotheses, but often sacrifice…

Modeling and rendering photorealistic avatars is of crucial importance in many applications. Existing methods that build a 3D avatar from visual observations, however, struggle to reconstruct clothed humans. We introduce PhysAvatar, a novel…

Human pose and shape (HPS) estimation presents challenges in diverse scenarios such as crowded scenes, person-person interactions, and single-view reconstruction. Existing approaches lack mechanisms to incorporate auxiliary "side…

Humanoid robots often need to balance competing objectives, such as maximizing speed while minimizing energy consumption. While current reinforcement learning (RL) methods can master complex skills like fall recovery and perceptive…

We present a novel framework to reconstruct complete 3D human shapes from a given target image by leveraging monocular unconstrained images. The objective of this work is to reproduce high-quality details in regions of the reconstructed…

3D human pose estimation from a monocular video has recently seen significant improvements. However, most state-of-the-art methods are kinematics-based, which are prone to physically implausible motions with pronounced artifacts. Current…

We introduce PHD, a novel approach for personalized 3D human mesh recovery (HMR) and body fitting that leverages user-specific shape information to improve pose estimation accuracy from videos. Traditional HMR methods are designed to be…