论文标题
从通用类人动物控制到自动有效的角色创建
From Universal Humanoid Control to Automatic Physically Valid Character Creation
论文作者
论文摘要
自动设计虚拟人和类人动物在协助游戏，电影和机器人中的角色创作过程中具有巨大的潜力。在某些情况下，角色创建者可能希望设计为某些动作（例如空手道踢和跑酷跳跃）定制的类人体身体。在这项工作中，我们提出了一个人形设计框架，以自动生成以预先指定的人体运动为条件的身体有效的人形体。首先，我们学习了一个广义的类人动物控制器，该控制器在大规模的人类运动数据集中训练，该数据集具有多样化的人体运动和身体形状。其次，我们使用设计与控制框架来优化类人生理属性，以找到可以更好地模仿预先指定的人类运动序列的身体设计。我们的方法利用预先训练的类人动物控制器和物理模拟作为指导，能够发现经过定制以执行预先指定的人类运动的新类型人体设计。
Automatically designing virtual humans and humanoids holds great potential in aiding the character creation process in games, movies, and robots. In some cases, a character creator may wish to design a humanoid body customized for certain motions such as karate kicks and parkour jumps. In this work, we propose a humanoid design framework to automatically generate physically valid humanoid bodies conditioned on sequence(s) of pre-specified human motions. First, we learn a generalized humanoid controller trained on a large-scale human motion dataset that features diverse human motion and body shapes. Second, we use a design-and-control framework to optimize a humanoid's physical attributes to find body designs that can better imitate the pre-specified human motion sequence(s). Leveraging the pre-trained humanoid controller and physics simulation as guidance, our method is able to discover new humanoid designs that are customized to perform pre-specified human motions.
