6 papers
Controllable Text-to-Motion Generation via Modular Body-Part Phase Control
Minyue Dai, Ke Fan, Anyi Rao +2
Text-to-motion (T2M) generation is becoming a practical tool for animation and interactive avatars. However, modifying specific body parts while maintaining overall motion coherenc…
UniTracker: Learning Universal Whole-Body Motion Tracker for Humanoid Robots
Kangning Yin, Weishuai Zeng, Ke Fan +7
Achieving expressive and generalizable whole-body motion control is essential for deploying humanoid robots in real-world environments. In this work, we propose UniTracker, a three…
Behavior Foundation Model for Humanoid Robots
Weishuai Zeng, Shunlin Lu, Kangning Yin +4
Whole-body control (WBC) of humanoid robots has witnessed remarkable progress in skill versatility, enabling a wide range of applications such as locomotion, teleoperation, and mot…
Towards Synthesized and Editable Motion In-Betweening Through Part-Wise Phase Representation
Minyue Dai, Ke Fan, Bin Ji +5
Styled motion in-betweening is crucial for computer animation and gaming. However, existing methods typically encode motion styles by modeling whole-body motions, often overlooking…
Go to Zero: Towards Zero-shot Motion Generation with Million-scale Data
Ke Fan, Shunlin Lu, Minyue Dai +6
Generating diverse and natural human motion sequences based on textual descriptions constitutes a fundamental and challenging research area within the domains of computer vision, g…
SMAP: Self-supervised Motion Adaptation for Physically Plausible Humanoid Whole-body Control
Haoyu Zhao, Sixu Lin, Qingwei Ben +5
This paper presents a novel framework that enables real-world humanoid robots to maintain stability while performing human-like motion. Current methods train a policy which allows…