107 citations · 442 across the 20 of their papers we have counts for
6 papers · 1 filter
PhysibleMDM: Enforcing Inference-Time Physical Feasibility Constraints on Motion Diffusion Models via Noise Optimization
Maximilian Stölzle, David Müller, Agon Serifi +3
Motion Diffusion Models (MDMs) can generate diverse and visually appealing human motion; yet, the resulting trajectories frequently violate physical constraints, limiting their dow…
Walk Like This: Stylized Locomotion for Physics-Based Characters through Example-Driven Diffusion
Joshua Aurand, Agon Serifi, Sammy Christen +4
We present a real-time framework for expressive legged locomotion that enables independent control over velocity and style. Unlike existing data-driven controllers, which typically…
BFMTrack: Latent Sequence Optimization for Physics-Based Motion Tracking with Behavioral Foundation Models
Thomas Rupf, Agon Serifi, David Müller +4
Behavioral Foundation Models (BFMs) offer a promising path toward universal physics-based character control by organizing a rich repertoire of physically plausible behaviors into a…
CoCo-InEKF: State Estimation with Learned Contact Covariances in Dynamic, Contact-Rich Scenarios
Michael Baumgartner, David Müller, Agon Serifi +4
Robust state estimation for highly dynamic motion of legged robots remains challenging, especially in dynamic, contact-rich scenarios. Traditional approaches often rely on binary c…
ReActor: Reinforcement Learning for Physics-Aware Motion Retargeting
David Müller, Agon Serifi, Sammy Christen +3
Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding…
Kamino: GPU-based Simulation of Rigid Multi-Body Physics with Kinematic Loops
Vassilios Tsounis, Guirec Maloisel, Christian Schumacher +6
We present Kamino, a GPU-based physics solver for massively parallel simulations of heterogeneous highly-coupled mechanical systems. Implemented in Python using NVIDIA Warp and int…