Real Time Animation of Virtual Humans: A Trade-off Between Naturalness and Control

Virtual humans are employed in many interactive applications using 3D virtual environments, including (serious) games. The motion of such virtual humans should look realistic (or ‘natural’) and allow interaction with the surroundings and other (virtual) humans. Current animation techniques differ in the trade-off they offer between motion naturalness and the control that can be exerted over the motion. We show mechanisms to parametrize, combine (on different body parts) and concatenate motions generated by different animation techniques. We discuss several aspects of motion naturalness and show how it can be evaluated. We conclude by showing the promise of combinations of different animation paradigms to enhance both naturalness and control

Fast Model Identification via Physics Engines for Data-Efficient Policy Search

This paper presents a method for identifying mechanical parameters of robots or objects, such as their mass and friction coefficients. Key features are the use of off-the-shelf physics engines and the adaptation of a Bayesian optimization technique towards minimizing the number of real-world experiments needed for model-based reinforcement learning. The proposed framework reproduces in a physics engine experiments performed on a real robot and optimizes the model's mechanical parameters so as to match real-world trajectories. The optimized model is then used for learning a policy in simulation, before real-world deployment. It is well understood, however, that it is hard to exactly reproduce real trajectories in simulation. Moreover, a near-optimal policy can be frequently found with an imperfect model. Therefore, this work proposes a strategy for identifying a model that is just good enough to approximate the value of a locally optimal policy with a certain confidence, instead of wasting effort on identifying the most accurate model. Evaluations, performed both in simulation and on a real robotic manipulation task, indicate that the proposed strategy results in an overall time-efficient, integrated model identification and learning solution, which significantly improves the data-efficiency of existing policy search algorithms.Comment: IJCAI 1

DNA nano-mechanics: how proteins deform the double helix

It is a standard exercise in mechanical engineering to infer the external forces and torques on a body from its static shape and known elastic properties. Here we apply this kind of analysis to distorted double-helical DNA in complexes with proteins. We extract the local mean forces and torques acting on each base-pair of bound DNA from high-resolution complex structures. Our method relies on known elastic potentials and a careful choice of coordinates of the well-established rigid base-pair model of DNA. The results are robust with respect to parameter and conformation uncertainty. They reveal the complex nano-mechanical patterns of interaction between proteins and DNA. Being non-trivially and non-locally related to observed DNA conformations, base-pair forces and torques provide a new view on DNA-protein binding that complements structural analysis.Comment: accepted for publication in JCP; some minor changes in response to review 18 pages, 5 figure + supplement: 4 pages, 3 figure

Capturing Hands in Action using Discriminative Salient Points and Physics Simulation

Hand motion capture is a popular research field, recently gaining more attention due to the ubiquity of RGB-D sensors. However, even most recent approaches focus on the case of a single isolated hand. In this work, we focus on hands that interact with other hands or objects and present a framework that successfully captures motion in such interaction scenarios for both rigid and articulated objects. Our framework combines a generative model with discriminatively trained salient points to achieve a low tracking error and with collision detection and physics simulation to achieve physically plausible estimates even in case of occlusions and missing visual data. Since all components are unified in a single objective function which is almost everywhere differentiable, it can be optimized with standard optimization techniques. Our approach works for monocular RGB-D sequences as well as setups with multiple synchronized RGB cameras. For a qualitative and quantitative evaluation, we captured 29 sequences with a large variety of interactions and up to 150 degrees of freedom.Comment: Accepted for publication by the International Journal of Computer Vision (IJCV) on 16.02.2016 (submitted on 17.10.14). A combination into a single framework of an ECCV'12 multicamera-RGB and a monocular-RGBD GCPR'14 hand tracking paper with several extensions, additional experiments and detail

Applying the proto-theory of design to explain and modify the parameter analysis method of conceptual design

This article reports on the outcomes of applying the notions provided by the reconstructed proto-theory of design, based on Aristotle’s remarks, to the parameter analysis (PA) method of conceptual design. Two research questions are addressed: (1) What further clarification and explanation to the approach of PA is provided by the proto-theory? (2) Which conclusions can be drawn from the study of an empirically derived design approach through the proto-theory regarding usefulness, validity and range of that theory? An overview of PA and an application example illustrate its present model and unique characteristics. Then, seven features of the proto-theory are explained and demonstrated through geometrical problem solving and analogies are drawn between these features and the corresponding ideas in modern design thinking. Historical and current uses of the terms analysis and synthesis in design are also outlined and contrasted, showing that caution should be exercised when applying them. Consequences regarding the design moves, process and strategy of PA allow proposing modifications to its model, while demonstrating how the ancient method of analysis can contribute to better understanding of contemporary design-theoretic issues