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We present a physics-based humanoid controller that achieves high-fidelity motion imitation and fault-tolerant behavior in the presence of noisy input (e.g.
Catastrophic interference in connectionist networks: The sequential learning problem
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Physics-based motion capture imitation with deep reinforcement learning
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Multi-segment foot modeling for human animation
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DeepMimic
Xue Bin Peng, Pieter Abbeel, Sergey Levine, and Michiel van de Panne · 2018
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3D ego-pose estimation via imitation learning
Ye Yuan and Kris Kitani · 2018
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DReCon: Data-driven responsive control of physics-based characters
Kevin Bergamin, Simon Clavet, Daniel Holden, and James Richard Forbes · 2019
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Cross-domain adaptation for animal pose estimation
Jinkun Cao, Hongyang Tang, Hao-Shu Fang, Xiaoyong Shen, Cewu Lu, and Yu-Wing Tai · 2019
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AMASS: Archive of motion capture as surface shapes
Naureen Mahmood, Nima Ghorbani, Nikolaus F Troje, Gerard Pons-Moll, and Michael J Black · 2019
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Learning predict-and-simulate policies from unorganized human motion data
Soohwan Park, Hoseok Ryu, Seyoung Lee, Sunmin Lee, and Jehee Lee · 2019
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Xue Bin Peng, Michael Chang, Grace Zhang, Pieter Abbeel, and Sergey Levine · 2019
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On the continuity of rotation representations in neural networks
Yi Zhou, Connelly Barnes, Jingwan Lu, Jimei Yang, and Hao Li · 2019
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HybrIK: A hybrid analytical-neural inverse kinematics solution for 3D human pose and shape estimation
Jiefeng Li, Chao Xu, Zhicun Chen, Siyuan Bian, Lixin Yang, and Cewu Lu · 2020
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Catch and carry: Reusable neural controllers for vision-guided whole-body tasks
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Jinkun Cao, Xinshuo Weng, Rawal Khirodkar, Jiangmiao Pang, and Kris Kitani · 2022
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A continual learning survey: Defying forgetting in classification tasks
Matthias De Lange, Rahaf Aljundi, Marc Masana, Sarah Parisot, Xu Jia, Ales Leonardis, Gregory Slabaugh, and Tinne Tuytelaars · 2022
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Deep whole-body control: Learning a unified policy for manipulation and locomotion
Zipeng Fu, Xuxin Cheng, and Deepak Pathak · 2022
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PoseTriplet: Co-evolving 3D human pose estimation, imitation, and hallucination under self-supervision
Kehong Gong, Bingbing Li, Jianfeng Zhang, Tao Wang, Jing Huang, Michael Bi Mi, Jiashi Feng, and Xinchao Wang · 2022
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Neural MoCon: Neural motion control for physically plausible human motion capture
Buzhen Huang, Liang Pan, Yuan Yang, Jingyi Ju, and Yangang Wang · 2022
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Josh Merel, Saran Tunyasuvunakool, Arun Ahuja, Yuval Tassa, Leonard Hasenclever, Vu Pham, Tom Erez, Greg Wayne, and Nicolas Heess · 2020
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PhysCap: Physically plausible monocular 3D motion capture in real time
Soshi Shimada, Vladislav Golyanik, Weipeng Xu, and Christian Theobalt · 2020
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MeTRAbs: Metric-scale truncation-robust heatmaps for absolute 3D human pose estimation
István Sárándi, Timm Linder, Kai O Arras, and Bastian Leibe · 2020
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UniCon: Universal neural controller for physics-based character motion
Tingwu Wang, Yunrong Guo, Maria Shugrina, and Sanja Fidler · 2020
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A scalable approach to control diverse behaviors for physically simulated characters
Jungdam Won, Deepak Gopinath, and Jessica Hodgins · 2020
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Residual force control for agile human behavior imitation and extended motion synthesis
Ye Yuan and Kris Kitani · 2020
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Reducing footskate in human motion reconstruction with ground contact constraints
Yuliang Zou, Jimei Yang, Duygu Ceylan, Jianming Zhang, Federico Perazzi, and Jia-Bin Huang · 2020
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Improving policy optimization with generalist-specialist learning
Zhiwei Jia, Xuanlin Li, Zhan Ling, Shuang Liu, Yiran Wu, and Hao Su · 2022
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Embodied scene-aware human pose estimation
Zhengyi Luo, Shun Iwase, Ye Yuan, and Kris Kitani · 2022
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From universal humanoid control to automatic physically valid character creation
Zhengyi Luo, Ye Yuan, and Kris M Kitani · 2022
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ASE: Large-scale reusable adversarial skill embeddings for physically simulated characters
Xue Bin Peng, Yunrong Guo, Lina Halper, Sergey Levine, and Sanja Fidler · 2022
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Learning 3D human pose estimation from dozens of datasets using a geometry-aware autoencoder to bridge between skeleton formats
István Sárándi, Alexander Hermans, and Bastian Leibe · 2022
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Learning to get up
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Human motion diffusion model
Guy Tevet, Sigal Raab, Brian Gordon, Yonatan Shafir, Amit H Bermano, and Daniel Cohen-Or · 2022
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MoCapAct: A multi-task dataset for simulated humanoid control
Nolan Wagener, Andrey Kolobov, Felipe Vieira Frujeri, Ricky Loynd, Ching-An Cheng, and Matthew Hausknecht · 2022
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QuestSim: Human motion tracking from sparse sensors with simulated avatars
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Physics-based character controllers using conditional VAEs
Jungdam Won, Deepak Gopinath, and Jessica Hodgins · 2022
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PhysDiff: Physics-guided human motion diffusion model
Ye Yuan, Jiaming Song, Umar Iqbal, Arash Vahdat, and Jan Kautz · 2022
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Mixture-of-experts with expert choice routing
Yanqi Zhou, Tao Lei, Hanxiao Liu, Nan Du, Yanping Huang, Vincent Zhao, Andrew Dai, Zhifeng Chen, Quoc Le, and James Laudon · 2022
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CoMic: Complementary task learning & mimicry for reusable skills
Leonard Hasenclever, Fabio Pardo, Raia Hadsell, Nicolas Heess, and Josh Merel · 2023
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