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We present a method for controlling a simulated humanoid to grasp an object and move it to follow an object's trajectory.
A reduction of imitation learning and structured prediction to no-regret online learning
S. Ross, G. J. Gordon, and J. A. Bagnell · 2010
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Synthesis of detailed hand manipulations using contact sampling
Y. Ye and C. K. Liu · 2012
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Learning phrase representations using rnn encoder–decoder for statistical machine translation
K. Cho, B. van Merrienboer, Çaglar Gülçehre, D. Bahdanau, F. Bougares, H. Schwenk, and Y. Bengio · 2014
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Auto-encoding variational bayes
D. P. Kingma and M. Welling · 2014
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Learning complex dexterous manipulation with deep reinforcement learning and demonstrations
A. Rajeswaran, V. Kumar, A. Gupta, G. Vezzani, J. Schulman, E. Todorov, and S. Levine · 2017
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Learning complex dexterous manipulation with deep reinforcement learning and demonstrations
A. Rajeswaran, V. Kumar, A. Gupta, G. Vezzani, J. Schulman, E. Todorov, and S. Levine · 2017
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Proximal policy optimization algorithms, 2017
J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
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Physics-based motion capture imitation with deep reinforcement learning
N. Chentanez, M. Müller, M. Macklin, V. Makoviychuk, and S. Jeschke · 2018
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First-person hand action benchmark with rgb-d videos and 3d hand pose annotations
G. Garcia-Hernando, S. Yuan, S. Baek, and T.-K. Kim · 2018
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Latent space policies for hierarchical reinforcement learning
T. Haarnoja, K. Hartikainen, P. Abbeel, and S. Levine · 2018
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Learning basketball dribbling skills using trajectory optimization and deep reinforcement learning
L. Liu and J. Hodgins · 2018
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Neural probabilistic motor primitives for humanoid control, 2018
J. Merel, L. Hasenclever, A. Galashov, A. Ahuja, V. Pham, G. Wayne, Y. W. Teh, and N. Heess · 2018
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Deepmimic: Example-guided deep reinforcement learning of physics-based character skills
X. B. Peng, P. Abbeel, S. Levine, and M. van de Panne · 2018
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3d ego-pose estimation via imitation learning
Y. Yuan and K. Kitani · 2018
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Solving rubik’s cube with a robot hand
I. Akkaya, M. Andrychowicz, M. Chociej, M. Litwin, B. McGrew, A. Petron, A. Paino, M. Plappert, G. Powell, R. Ribas, et al · 2019
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ContactDB: Analyzing and predicting grasp contact via thermal imaging
S. Brahmbhatt, C. Ham, C. C. Kemp, and J. Hays · 2019
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Amass: Archive of motion capture as surface shapes
N. Mahmood, N. Ghorbani, N. F. Troje, G. Pons-Moll, and M. J. Black · 2019
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Grounded human-object interaction hotspots from video
T. Nagarajan, C. Feichtenhofer, and K. Grauman · 2019
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Expressive body capture: 3d hands, face, and body from a single image
G. Pavlakos, V. Choutas, N. Ghorbani, T. Bolkart, A. A. A. Osman, D. Tzionas, and M. J. Black · 2019
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Mcp: Learning composable hierarchical control with multiplicative compositional policies
X. B. Peng, M. Chang, G. Zhang, P. Abbeel, and S. Levine · 2019
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Efficient learning on point clouds with basis point sets
S. Prokudin, C. Lassner, and J. Romero · 2019
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Ego-pose estimation and forecasting as real-time pd control
Y. Yuan and K. Kitani · 2019
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On the continuity of rotation representations in neural networks
Y. Zhou, C. Barnes, J. Lu, J. Yang, and H. Li · 2019
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CoMic: Complementary task learning & mimicry for reusable skills
L. Hasenclever, F. Pardo, R. Hadsell, N. Heess, and J. Merel · 2020
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Catch and carry: Reusable neural controllers for vision-guided whole-body tasks
J. Merel, S. Tunyasuvunakool, A. Ahuja, Y. Tassa, L. Hasenclever, V. Pham, T. Erez, G. Wayne, and N. Heess · 2020
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GRAB: A dataset of whole-body human grasping of objects
O. Taheri, N. Ghorbani, M. J. Black, and D. Tzionas · 2020
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Grab: A dataset of whole-body human grasping of objects
O. Taheri, N. Ghorbani, M. J. Black, and D. Tzionas · 2020
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A scalable approach to control diverse behaviors for physically simulated characters
J. Won, D. Gopinath, and J. Hodgins · 2020
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Reconstructing hand-object interactions in the wild
Z. Cao, I. Radosavovic, A. Kanazawa, and J. Malik · 2021
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A system for general in-hand object re-orientation
T. Chen, J. Xu, and P. Agrawal · 2021
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Hand-object contact consistency reasoning for human grasps generation
H. Jiang, S. Liu, J. Wang, and X. Wang · 2021
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Dynamics-regulated kinematic policy for egocentric pose estimation
Z. Luo, R. Hachiuma, Y. Yuan, and K. Kitani · 2021
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Isaac gym: High performance gpu-based physics simulation for robot learning
V. Makoviychuk, L. Wawrzyniak, Y. Guo, M. Lu, K. Storey, M. Macklin, D. Hoeller, N. Rudin, A. Allshire, A. Handa, and Gavriel State · 2021
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Amp: Adversarial motion priors for stylized physics-based character control
X. B. Peng, Z. Ma, P. Abbeel, S. Levine, and A. Kanazawa · 2021
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Learning transferable motor skills with hierarchical latent mixture policies
D. Rao, F. Sadeghi, L. Hasenclever, M. Wulfmeier, M. Zambelli, G. Vezzani, D. Tirumala, Y. Aytar, J. Merel, N. Heess, and R. Hadsell · 2021
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Humor: 3d human motion model for robust pose estimation
D. Rempe, T. Birdal, A. Hertzmann, J. Yang, S. Sridhar, and L. J. Guibas · 2021
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Physics-based human motion estimation and synthesis from videos
K. Xie, T. Wang, U. Iqbal, Y. Guo, S. Fidler, and F. Shkurti · 2021
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Simpoe: Simulated character control for 3d human pose estimation
Y. Yuan, S.-E. Wei, T. Simon, K. Kitani, and J. Saragih · 2021
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Manipnet: neural manipulation synthesis with a hand-object spatial representation
H. Zhang, Y. Ye, T. Shiratori, and T. Komura · 2021
Synthesizing physical character-scene interactions
M. Hassan, Y. Guo, T. Wang, M. Black, S. Fidler, and X. B. Peng · 2023
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Questenvsim: Environment-aware simulated motion tracking from sparse sensors
S. Lee, S. Starke, Y. Ye, J. Won, and A. Winkler · 2023
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Object motion guided human motion synthesis
J. Li, J. Wu, and C. K. Liu · 2023
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Universal humanoid motion representations for physics-based control
Z. Luo, J. Cao, J. Merel, A. Winkler, J. Huang, K. Kitani, and W. Xu · 2023
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Perpetual humanoid control for real-time simulated avatars
Z. Luo, J. Cao, A. W. Winkler, K. Kitani, and W. Xu · 2023
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Cited alongside, same era.
Rt-1: Robotics transformer for real-world control at scale
A. Brohan, N. Brown, J. Carbajal, Y. Chebotar, J. Dabis, C. Finn, K. Gopalakrishnan, K. Hausman, A. Herzog, J. Hsu, et al · 2022
Cited alongside, same era.
Myodex: Generalizable representations for dexterous physiological manipulation
V. Caggiano, S. Dasari, and V. Kumar · 2022
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D-grasp: Physically plausible dynamic grasp synthesis for hand-object interactions
S. Christen, M. Kocabas, E. Aksan, J. Hwangbo, J. Song, and O. Hilliges · 2022
Cited alongside, same era.
Deep whole-body control: Learning a unified policy for manipulation and locomotion
Z. Fu, X. Cheng, and D. Pathak · 2022
Cited alongside, same era.
Posetriplet: Co-evolving 3d human pose estimation, imitation, and hallucination under self-supervision
K. Gong, B. Li, J. Zhang, T. Wang, J. Huang, M. B. Mi, J. Feng, and X. Wang · 2022
Cited alongside, same era.
Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo
T. Howell, N. Gileadi, S. Tunyasuvunakool, K. Zakka, T. Erez, and Y. Tassa · 2022
Cited alongside, same era.
Neural mocon: Neural motion control for physically plausible human motion capture
B. Huang, L. Pan, Y. Yang, J. Ju, and Y. Wang · 2022
Cited alongside, same era.
G. Moon, S. Saito, W. Xu, R. Joshi, J. Buffalini, H. Bellan, N. Rosen, J. Richardson, M. Mallorie, P. Bree, T. Simon, B. Peng, S. Garg, K. McPhail, and T. Shiratori · 2023
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Trace and pace: Controllable pedestrian animation via guided trajectory diffusion
D. Rempe, Z. Luo, X. B. Peng, Y. Yuan, K. Kitani, K. Kreis, S. Fidler, and O. Litany · 2023
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Flex: Full-body grasping without full-body grasps
P. Tendulkar, D. Surís, and C. Vondrick · 2023
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Unidexgrasp++: Improving dexterous grasping policy learning via geometry-aware curriculum and iterative generalist-specialist learning
W. Wan, H. Geng, Y. Liu, Z. Shan, Y. Yang, L. Yi, and H. Wang · 2023
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Learning human dynamics in autonomous driving scenarios
J. Wang, Y. Yuan, Z. Luo, K. Xie, D. Lin, U. Iqbal, S. Fidler, S. Khamis, H. Kong, and Mellon University, Carnegie · 2023
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Physhoi: Physics-based imitation of dynamic human-object interaction
Y. Wang, J. Lin, A. Zeng, Z. Luo, J. Zhang, and L. Zhang · 2023
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Visibility aware human-object interaction tracking from single rgb camera
X. Xie, B. L. Bhatnagar, and G. Pons-Moll · 2023
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Unidexgrasp: Universal robotic dexterous grasping via learning diverse proposal generation and goal-conditioned policy
Y. Xu, W. Wan, J. Zhang, H. Liu, Z. Shan, H. Shen, R. Wang, H. Geng, Y. Weng, J. Chen, et al · 2023
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Affordance diffusion: Synthesizing hand-object interactions
Y. Ye, X. Li, A. Gupta, S. De Mello, S. Birchfield, J. Song, S. Tulsiani, and S. Liu · 2023
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Learning physically simulated tennis skills from broadcast videos
H. Zhang, Y. Yuan, V. Makoviychuk, Y. Guo, S. Fidler, X. B. Peng, and K. Fatahalian · 2023
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Learning to transfer in-hand manipulations using a greedy shape curriculum
Y. Zhang, A. Clegg, S. Ha, G. Turk, and Y. Ye · 2023
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Simulation and retargeting of complex multi-character interactions
Y. Zhang, D. Gopinath, Y. Ye, J. Hodgins, G. Turk, and J. Won · 2023
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https://www.shadowrobot.com/dexterous-hand-series/ , 19 Sept. 2023
Dexterous hand series · 2024
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Physically plausible full-body hand-object interaction synthesis
J. Braun, S. Christen, M. Kocabas, E. Aksan, and O. Hilliges · 2024
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Synh2r: Synthesizing hand-object motions for learning human-to-robot handovers
S. Christen, L. Feng, W. Yang, Y.-W. Chao, O. Hilliges, and J. Song · 2024
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Omnih2o: Universal and dexterous human-to-humanoid whole-body teleoperation and learning
T. He, Z. Luo, X. He, W. Xiao, C. Zhang, W. Zhang, K. Kitani, C. Liu, and G. Shi · 2024
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Learning human-to-humanoid real-time whole-body teleoperation, 2024
T. He, Z. Luo, W. Xiao, C. Zhang, K. Kitani, C. Liu, and G. Shi · 2024
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Task-oriented human-object interactions generation with implicit neural representations
Q. Li, J. Wang, C. C. Loy, and B. Dai · 2024
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Ok-robot: What really matters in integrating open-knowledge models for robotics
P. Liu, Y. Orru, C. Paxton, N. M. M. Shafiullah, and L. Pinto · 2024
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Geneoh diffusion: Towards generalizable hand-object interaction denoising via denoising diffusion
X. Liu and L. Yi · 2024
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Real-time simulated avatar from head-mounted sensors
Z. Luo, J. Cao, R. Khirodkar, A. Winkler, K. Kitani, and W. Xu · 2024
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Handiffuser: Text-to-image generation with realistic hand appearances
S. Narasimhaswamy, U. Bhattacharya, X. Chen, I. Dasgupta, S. Mitra, and M. Hoai · 2024
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Real-world humanoid locomotion with reinforcement learning
I. Radosavovic, T. Xiao, B. Zhang, T. Darrell, J. Malik, and K. Sreenath · 2024
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Humanoid locomotion as next token prediction
I. Radosavovic, B. Zhang, B. Shi, J. Rajasegaran, S. Kamat, T. Darrell, K. Sreenath, and J. Malik · 2024
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GRIP: Generating interaction poses using latent consistency and spatial cues
O. Taheri, Y. Zhou, D. Tzionas, Y. Zhou, D. Ceylan, S. Pirk, and M. J. Black · 2024
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Pacer+: On-demand pedestrian animation controller in driving scenarios
J. Wang, Z. Luo, Y. Yuan, Y. Li, and B. Dai · 2024
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G-hop: Generative hand-object prior for interaction reconstruction and grasp synthesis
Y. Ye, A. Gupta, K. Kitani, and S. Tulsiani · 2024
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GraspXL: Generating grasping motions for diverse objects at scale
H. Zhang, S. Christen, Z. Fan, O. Hilliges, and J. Song · 2024
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ArtiGrasp: Physically plausible synthesis of bi-manual dexterous grasping and articulation
H. Zhang, S. Christen, Z. Fan, L. Zheng, J. Hwangbo, J. Song, and O. Hilliges · 2024
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