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

摘要

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. In this work, we propose a Forward Dynamics Guided 4D Imitation method to generate physically plausible human-like reactions. The learned policy is capable of generating physically plausible and human-like reactions in real-time, significantly improving the speed(x33) for inference and quality of reactions compared with the existing methods. Our experiments on the InterHuman and Chi3D datasets, along with ablation studies, demonstrate the effectiveness of our approach. More visualizations are available at https://yunzeliu.github.io/PhysReaction/.