Half-Physics: Enabling Kinematic 3D Human Model with Physical Interactions
This addresses the limitation of current 3D human models for applications requiring realistic human-environment interactions, though it is incremental as it builds on existing kinematic models like SMPL-X.
The paper tackles the problem of kinematic 3D human models lacking physical interactions, which causes issues like interpenetration and unrealistic object dynamics, by introducing a 'half-physics' mechanism that transforms kinematic motion into physics simulation, eliminating these issues while maintaining real-time operation and motion fidelity.
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