PhysReaction: Physically Plausible Real-Time Humanoid Reaction Synthesis via Forward Dynamics Guided 4D Imitation

arXiv:2404.01081v1 Announce Type: cross
Abstract: Humanoid Reaction Synthesis is pivotal for creating highly interactive and empathetic robots that can seamlessly integrate into human environments, enhancing the way we live, work, and communicate. However, it is difficult to learn the diverse interaction patterns of multiple humans and generate physically plausible reactions. The kinematics-based approaches face challenges, including issues like floating feet, sliding, penetration, and other problems that defy physical plausibility. The existing physics-based method often relies on kinematics-based methods to generate …

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