相关论文: World-Coordinate Human Motion Retargeting via SAM …

Motion retargeting from humans to human-like artificial agents is becoming increasingly important as humanoid robots grow more capable. However, most existing approaches focus only on reproducing kinematics and ignore the rich sensorimotor…

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…

Recovering 4D human-object interaction (HOI) from monocular video is a key step toward scalable 3D content creation, embodied AI, and simulation-based learning. Recent methods can reconstruct temporally coherent human and object…

Enabling robust whole-body humanoid-object interaction (HOI) remains challenging due to motion data scarcity and the contact-rich nature. We present HDMI (HumanoiD iMitation for Interaction), a simple and general framework that learns…

We present a novel framework that brings the 3D motion retargeting task from controlled environments to in-the-wild scenarios. In particular, our method is capable of retargeting body motion from a character in a 2D monocular video to a 3D…

3D human reconstruction and animation are long-standing topics in computer graphics and vision. However, existing methods typically rely on sophisticated dense-view capture and/or time-consuming per-subject optimization procedures. To…

Push recovery during locomotion will facilitate the deployment of humanoid robots in human-centered environments. In this paper, we present a unified framework for walking control and push recovery for humanoid robots, leveraging the arms…

We present a method for fast 3D reconstruction and real-time rendering of dynamic humans from monocular videos with accompanying parametric body fits. Our method can reconstruct a dynamic human in less than 3h using a single GPU, compared…

This work presents a motion retargeting approach for legged robots, aimed at transferring the dynamic and agile movements to robots from source motions. In particular, we guide the imitation learning procedures by transferring motions from…

We propose Dyn-HaMR, to the best of our knowledge, the first approach to reconstruct 4D global hand motion from monocular videos recorded by dynamic cameras in the wild. Reconstructing accurate 3D hand meshes from monocular videos is a…

We introduce MotioNet, a deep neural network that directly reconstructs the motion of a 3D human skeleton from monocular video.While previous methods rely on either rigging or inverse kinematics (IK) to associate a consistent skeleton with…

This paper proposes GraviCap, i.e., a new approach for joint markerless 3D human motion capture and object trajectory estimation from monocular RGB videos. We focus on scenes with objects partially observed during a free flight. In contrast…

Learning 3D human motion from 2D inputs is a fundamental task in the realms of computer vision and computer graphics. Many previous methods grapple with this inherently ambiguous task by introducing motion priors into the learning process.…

Transferring articulated motion from monocular videos to rigged 3D characters is challenging due to pose ambiguity in 2D observations and morphological differences between source and target. Existing approaches often follow a…

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,…

We present a bundle-adjustment-based algorithm for recovering accurate 3D human pose and meshes from monocular videos. Unlike previous algorithms which operate on single frames, we show that reconstructing a person over an entire sequence…

We introduce a novel task of reconstructing a time series of second-person 3D human body meshes from monocular egocentric videos. The unique viewpoint and rapid embodied camera motion of egocentric videos raise additional technical barriers…

We present an approach to reconstruct humans and track them over time. At the core of our approach, we propose a fully "transformerized" version of a network for human mesh recovery. This network, HMR 2.0, advances the state of the art and…

Reconstructing 3D human-object interaction (HOI) from single-view RGB images is challenging due to the absence of depth information and potential occlusions. Existing methods simply predict the body poses merely rely on network training on…

Equipping humanoid robots with versatile interaction skills typically requires either extensive policy training or explicit human-to-robot motion retargeting. However, learning-based policies face prohibitive data collection costs.…