Human motion synthesis is a long-standing problem with various applications in digital twins and the Metaverse. However, modern deep learning based motion synthesis approaches barely consider the physical plausibility of synthesized motions and consequently they usually produce unrealistic human motions. In order to solve this problem, we propose a system ``Skeleton2Humanoid'' which performs physics-oriented motion correction at test time by regularizing synthesized skeleton motions in a physics simulator. Concretely, our system consists of three sequential stages: (I) test time motion synthesis network adaptation, (II) skeleton to humanoid matching and (III) motion imitation based on reinforcement learning (RL). Stage I introduces a test time adaptation strategy, which improves the physical plausibility of synthesized human skeleton motions by optimizing skeleton joint locations. Stage II performs an analytical inverse kinematics strategy, which converts the optimized human skeleton motions to humanoid robot motions in a physics simulator, then the converted humanoid robot motions can be served as reference motions for the RL policy to imitate. Stage III introduces a curriculum residual force control policy, which drives the humanoid robot to mimic complex converted reference motions in accordance with the physical law. We verify our system on a typical human motion synthesis task, motion-in-betweening. Experiments on the challenging LaFAN1 dataset show our system can outperform prior methods significantly in terms of both physical plausibility and accuracy. Code will be released for research purposes at: https://github.com/michaelliyunhao/Skeleton2Humanoid

本研究介绍了一种名为Skeleton2Humanoid的系统，该系统通过物理学模拟器中的正则化合成骨架运动来执行基于物理的运动校正，在测试时间内提高合成人体骨架运动的物理可行性，并且在LaFAN1数据集上的实验证明，该系统在物理可行性和准确性方面显著优于先前的方法。

Skeleton2Humanoid: 用于物理合理运动的虚拟人物动画插值