Humanoid robot painter: Visual perception and high-level planning

Abstract -This paper presents visual perception discovered in high-level manipulator planning for a robot to reproduce the procedure involved in human painting. First, we apply a technique of 2D object segmentation that considers region similarity as an objective function and edge as a constraint with artificial intelligent used as a criterion function. The system can segment images more effectively than most of existing methods, even if the foreground is very similar to the background. Second, we propose a novel color perception model that shows similarity to human perception. The method outperforms many existing color reduction algorithms. Third, we propose a novel global orientation map perception using a radial basis function. Finally, we use the derived model along with the brush's position-and force-sensing to produce a visual feedback drawing. Experiments show that our system can generate good paintings including portraits

Diffusion Shape Prior for Wrinkle-Accurate Cloth Registration

Registering clothes from 4D scans with vertex-accurate correspondence is challenging, yet important for dynamic appearance modeling and physics parameter estimation from real-world data. However, previous methods either rely on texture information, which is not always reliable, or achieve only coarse-level alignment. In this work, we present a novel approach to enabling accurate surface registration of texture-less clothes with large deformation. Our key idea is to effectively leverage a shape prior learned from pre-captured clothing using diffusion models. We also propose a multi-stage guidance scheme based on learned functional maps, which stabilizes registration for large-scale deformation even when they vary significantly from training data. Using high-fidelity real captured clothes, our experiments show that the proposed approach based on diffusion models generalizes better than surface registration with VAE or PCA-based priors, outperforming both optimization-based and learning-based non-rigid registration methods for both interpolation and extrapolation tests.Comment: Project page: https://www-users.cse.umn.edu/~guo00109/projects/3dv2024

ChoreoNet: Towards Music to Dance Synthesis with Choreographic Action Unit

Dance and music are two highly correlated artistic forms. Synthesizing dance motions has attracted much attention recently. Most previous works conduct music-to-dance synthesis via directly music to human skeleton keypoints mapping. Meanwhile, human choreographers design dance motions from music in a two-stage manner: they firstly devise multiple choreographic dance units (CAUs), each with a series of dance motions, and then arrange the CAU sequence according to the rhythm, melody and emotion of the music. Inspired by these, we systematically study such two-stage choreography approach and construct a dataset to incorporate such choreography knowledge. Based on the constructed dataset, we design a two-stage music-to-dance synthesis framework ChoreoNet to imitate human choreography procedure. Our framework firstly devises a CAU prediction model to learn the mapping relationship between music and CAU sequences. Afterwards, we devise a spatial-temporal inpainting model to convert the CAU sequence into continuous dance motions. Experimental results demonstrate that the proposed ChoreoNet outperforms baseline methods (0.622 in terms of CAU BLEU score and 1.59 in terms of user study score).Comment: 10 pages, 5 figures, Accepted by ACM MM 202

Dressing Avatars: Deep Photorealistic Appearance for Physically Simulated Clothing

Despite recent progress in developing animatable full-body avatars, realistic modeling of clothing - one of the core aspects of human self-expression - remains an open challenge. State-of-the-art physical simulation methods can generate realistically behaving clothing geometry at interactive rates. Modeling photorealistic appearance, however, usually requires physically-based rendering which is too expensive for interactive applications. On the other hand, data-driven deep appearance models are capable of efficiently producing realistic appearance, but struggle at synthesizing geometry of highly dynamic clothing and handling challenging body-clothing configurations. To this end, we introduce pose-driven avatars with explicit modeling of clothing that exhibit both photorealistic appearance learned from real-world data and realistic clothing dynamics. The key idea is to introduce a neural clothing appearance model that operates on top of explicit geometry: at training time we use high-fidelity tracking, whereas at animation time we rely on physically simulated geometry. Our core contribution is a physically-inspired appearance network, capable of generating photorealistic appearance with view-dependent and dynamic shadowing effects even for unseen body-clothing configurations. We conduct a thorough evaluation of our model and demonstrate diverse animation results on several subjects and different types of clothing. Unlike previous work on photorealistic full-body avatars, our approach can produce much richer dynamics and more realistic deformations even for many examples of loose clothing. We also demonstrate that our formulation naturally allows clothing to be used with avatars of different people while staying fully animatable, thus enabling, for the first time, photorealistic avatars with novel clothing.Comment: SIGGRAPH Asia 2022 (ACM ToG) camera ready. The supplementary video can be found on https://research.facebook.com/publications/dressing-avatars-deep-photorealistic-appearance-for-physically-simulated-clothing

A Dataset of Relighted 3D Interacting Hands

The two-hand interaction is one of the most challenging signals to analyze due to the self-similarity, complicated articulations, and occlusions of hands. Although several datasets have been proposed for the two-hand interaction analysis, all of them do not achieve 1) diverse and realistic image appearances and 2) diverse and large-scale groundtruth (GT) 3D poses at the same time. In this work, we propose Re:InterHand, a dataset of relighted 3D interacting hands that achieve the two goals. To this end, we employ a state-of-the-art hand relighting network with our accurately tracked two-hand 3D poses. We compare our Re:InterHand with existing 3D interacting hands datasets and show the benefit of it. Our Re:InterHand is available in https://mks0601.github.io/ReInterHand/.Comment: Accepted by NeurIPS 2023 (Datasets and Benchmarks Track

Analysis of HCV genotypes from blood donors shows three new HCV type 6 subgroups exist in Myanmar.

The prevalence of hepatitis C virus (HCV) genotypes in Myanmar in comparison with the rest of Southeast Asia is not well known. Serum samples were obtained from 201 HCV antibody-positive volunteer blood donors in and around the Myanmar city of Yangon. Of these, the antibody titers of 101 samples were checked by serial dilution using HCV antibody PA test II and Terasaki microplate as a low-cost method. To compare antibody titers by this method and RNA identification, we also checked HCV-RNA using the Amplicor 2.0 test. Most high-titer groups were positive for HCV-RNA. Of the 201 samples, 110 were successfully polymerase chain reaction (PCR) amplified. Among them, 35 (31.8%) were of genotype 1, 52 (47.3%) were of genotype 3, and 23 (20.9%) were of type 6 variants, and phylogenetic analysis of these type 6 variants revealed that 3 new type 6 subgroups exist in Myanmar. We named the subgroups M6-1, M6-2, and M6-3. M6-1 and M6-2 were relatively close to types 8 and 9, respectively. M6-3, though only found in one sample, was a brand-new subgroup. These subtypes were not seen in Vietnam, where type 6 group variants are widely spread. These findings may be useful for analyzing how and when these subgroups were formed

Multiface: A Dataset for Neural Face Rendering

Photorealistic avatars of human faces have come a long way in recent years, yet research along this area is limited by a lack of publicly available, high-quality datasets covering both, dense multi-view camera captures, and rich facial expressions of the captured subjects. In this work, we present Multiface, a new multi-view, high-resolution human face dataset collected from 13 identities at Reality Labs Research for neural face rendering. We introduce Mugsy, a large scale multi-camera apparatus to capture high-resolution synchronized videos of a facial performance. The goal of Multiface is to close the gap in accessibility to high quality data in the academic community and to enable research in VR telepresence. Along with the release of the dataset, we conduct ablation studies on the influence of different model architectures toward the model's interpolation capacity of novel viewpoint and expressions. With a conditional VAE model serving as our baseline, we found that adding spatial bias, texture warp field, and residual connections improves performance on novel view synthesis. Our code and data is available at: https://github.com/facebookresearch/multifac