원정담 교수

Human characters with a broad range of natural looking and physically realistic behaviors will enable the construction of compelling interactive experiences. In this paper, we develop a technique for learning controllers for a large set of heterogeneous behaviors. By dividing a reference library of motion into clusters of like motions, we are able to construct experts , learned controllers that can reproduce a simulated version of the motions in that cluster. These experts are then combined via

Real-time tracking of human body motion is crucial for interactive and immersive experiences in AR/VR. However, very limited sensor data about the body is available from standalone wearable devices such as HMDs (Head Mounted Devices) or AR glasses. In this work, we present a reinforcement learning framework that takes in sparse signals from an HMD and two controllers, and simulates plausible and physically valid full body motions. Using high quality full body motion as dense supervision during t

Recently, deep reinforcement learning (DRL) has attracted great attention in designing controllers for physics-based characters. Despite the recent success of DRL, the learned controller is viable for a single character. Changes in body size and proportions require learning controllers from scratch. In this paper, we present a new method of learning parametric controllers for body shape variation. A single parametric controller enables us to simulate and control various characters having differe

High-quality motion capture datasets are now publicly available, and researchers have used them to create kinematics-based controllers that can generate plausible and diverse human motions without conditioning on specific goals (i.e., a task-agnostic generative model). In this paper, we present an algorithm to build such controllers for physically simulated characters having many degrees of freedom. Our physics-based controllers are learned by using conditional VAEs, which can perform a variety

Real-time human motion reconstruction from a sparse set of (e.g. six) wearable IMUs provides a non-intrusive and economic approach to motion capture. Without the ability to acquire position information directly from IMUs, recent works took data-driven approaches that utilize large human motion datasets to tackle this under-determined problem. Still, challenges remain such as temporal consistency, drifting of global and joint motions, and diverse coverage of motion types on various terrains. We p

Simulating believable virtual crowds has been an important research topic in many research fields such as industry films, computer games, urban engineering, and behavioral science. One of the key capabilities agents should have is navigation, which is reaching goals without colliding with other agents or obstacles. The key challenge here is that the environment changes dynamically, where the current decision of an agent can largely affect the state of other agents as well as the agent in the fut

In two-player competitive sports, such as boxing and fencing , athletes often demonstrate efficient and tactical movements during a competition. In this paper, we develop a learning framework that generates control policies for physically simulated athletes who have many degrees-of-freedom. Our framework uses a two step-approach, learning basic skills and learning bout-level strategies, with deep reinforcement learning, which is inspired by the way that people how to learn competitive sports. We

We present a novel and general framework for the design and control of underwater soft-bodied animals. The whole body of an animal consisting of soft tissues is modeled by tetrahedral and triangular FEM meshes. The contraction of muscles embedded in the soft tissues actuates the body and limbs to move. We present a novel muscle excitation model that mimics the anatomy of muscular hydrostats and their muscle excitation patterns. Our deep reinforcement learning algorithm equipped with the muscle e

Imaginary winged creatures in computer animation applications are expected to perform a variety of motor skills in a physically realistic and controllable manner. Designing physics-based controllers for a flying creature is still very challenging particularly when the dynamic model of the creatures is high-dimensional, having many degrees of freedom. In this paper, we present a control method for flying creatures, which are aerodynamically simulated, interactively controllable, and equipped with

We present a physically based controller that simulates the flapping behavior of a bird in flight. We recorded the motion of a dove using marker-based optical motion capture and high-speed video cameras. The bird flight data thus acquired allow us to parameterize natural wingbeat cycles and provide the simulated bird with reference trajectories to track in physics simulation. Our controller simulates articulated rigid bodies of a bird's skeleton and deformable feathers to reproduce the aerodynam

In many application areas, such as animation for pre-visualizing movie sequences and choreography for dance or other types of performance, only a high-level description of the desired scene is provided as input, either written or verbal. Such sparsity, however, lends itself well to the creative process, as the choreographer, animator or director can be given more choice and control of the final scene. Animating scenes with multi-character interactions can be a particularly complex process, as th

Flying creatures in animated films often perform highly dynamic aerobatic maneuvers, which require their extreme of exercise capacity and skillful control. Designing physics-based controllers (a.k.a., control policies) for aerobatic maneuvers is very challenging because dynamic states remain in unstable equilibrium most of the time during aerobatics. Recently, Deep Reinforcement Learning (DRL) has shown its potential in constructing physics-based controllers. In this paper, we present a new conc

Replicating a user’s pose from only wearable sensors is important for many AR/VR applications. Most existing methods for motion tracking avoid environment interaction apart from foot-floor contact due to their complex dynamics and hard constraints. However, in daily life people regularly interact with their environment, e.g. by sitting on a couch or leaning on a desk. Using Reinforcement Learning, we show that headset and controller pose, if combined with physics simulation and environment obser

Motion in-betweening (MIB) is a process of generating intermediate skeletal movement between the given start and target poses while preserving the naturalness of the motion, such as periodic footstep motion while walking. Although state-of-the-art MIB methods are capable of producing plausible motions given sparse key-poses, they often lack the controllability to generate motions satisfying the semantic contexts required in practical applications. We focus on the method that can handle pose or s

We present a method to animate a character incorporating multiple part-wise motion priors (PMP). While previous works allow creating realistic articulated motions from reference data, the range of motion is largely limited by the available samples. Especially for the interaction-rich scenarios, it is impractical to attempt acquiring every possible interacting motion, as the combination of physical parameters increases exponentially. The proposed PMP allows us to assemble multiple part skills to