4 papers
Streaming Multi-Track Timeline Control for 3D Human Motion Generation
Yangsong Zhang, Anujith Muraleedharan, Rikhat Akizhanov +3
Text-driven human motion generation has advanced substantially, yet most methods assume instructions are available before synthesis. Interactive applications require responding to…
PACT: End-to-End Learning of Human Pose, Contacts, and Forces from Video
Rikhat Akizhanov, Yangsong Zhang, Nikolai Kaliazin +5
Human motion, environmental contacts, and interaction forces are governed by common physical laws, yet existing approaches typically separate visual pose reconstruction from contac…
PhysMoDPO: Physically-Plausible Humanoid Motion with Preference Optimization
Yangsong Zhang, Anujith Muraleedharan, Rikhat Akizhanov +5
Recent progress in text-conditioned human motion generation has been largely driven by diffusion models trained on large-scale human motion data. Building on this progress, recent…
Learning feasible transitions for efficient contact planning
Rikhat Akizhanov, Victor Dhédin, Majid Khadiv +1
In this paper, we propose an efficient contact planner for quadrupedal robots to navigate in extremely constrained environments such as stepping stones. The main difficulty in this…