让3D人体模型在保持动作精准的同时实现真实物理交互。
Half-Physics: Enabling Kinematic 3D Human Model with Physical Interactions
- 用'半物理'机制将骨骼动画转为物理模拟，保留原有姿态控制。
- 无需训练即可实时运行，解决穿模和物体运动失真问题。
- 适合需要真实交互的虚拟角色、游戏与仿真场景使用。
当前通用3D人体模型（如SMPL-X）虽能精确表达人体形状与姿态，但因其为运动学性质，缺乏与环境的真实物理交互能力，常导致穿模和物体运动不自然等问题。为此，本文提出一种新方法，将SMPL-X嵌入可动态交互的物理实体中。核心是引入‘半物理’机制，将3D运动学动作转化为物理模拟过程。该方法在保持原生SMPL-X姿态控制的前提下，确保人体与场景及物体间物理合理交互，有效消除穿模与非真实物体动力学现象。相比依赖强化学习的方法，本方案无需训练，具备泛化性，适用于任意体型与动作，且可实现实时运行。同时，在无缝融合物理交互的同时，保留原始运动的高保真度。
原文摘要 · Abstract (English)
While current general-purpose 3D human models (e.g., SMPL-X) efficiently represent accurate human shape and pose, they lacks the ability to physically interact with the environment due to the kinematic nature. As a result, kinematic-based interaction models often suffer from issues such as interpenetration and unrealistic object dynamics. To address this limitation, we introduce a novel approach that embeds SMPL-X into a tangible entity capable of dynamic physical interactions with its surroundings. Specifically, we propose a "half-physics" mechanism that transforms 3D kinematic motion into a physics simulation. Our approach maintains kinematic control over inherent SMPL-X poses while ensuring physically plausible interactions with scenes and objects, effectively eliminating penetration and unrealistic object dynamics. Unlike reinforcement learning-based methods, which demand extensive and complex training, our half-physics method is learning-free and generalizes to any body shape and motion; meanwhile, it operates in real time. Moreover, it preserves the fidelity of the original kinematic motion while seamlessly integrating physical interactions
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