Real-time animation interactive editing system and method
Through the real-time animation interactive editing system, the animation processing device is used to compare simulation results with action animations in real time and edit action animations, which solves the problems of unsatisfactory robot action training results and high training time cost in the existing technology, and realizes an efficient action training process.
Patent Information
- Application Number
- CN202311511238.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-13
- Publication Date
- 2025-05-13
AI Technical Summary
In the existing robot action training process, if the robot action is missing or unreasonable, the training results are not ideal, and the existing physics simulation platform needs to wait until the complete training is completed before the results can be known, resulting in high computing time and cost.
Provides a real-time animation interactive editing system, including a physical simulation platform and an animation processing device. The animation processing device compares the simulation results and action animations generated by the physical simulation platform in real time through the animation editing circuit and the comparison processing circuit, edits the action animation to generate the edited action animation, and provides it to the physical simulation platform.
Real-time adjustment of undesirable aspects in action animation is achieved, and the training process that starts over the clock is avoided, which significantly accelerates the efficiency of robot action training and reduces the computing time and cost.
Smart Images
Figure CN119991884A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a real-time animation interactive editing system and method, and in particular to a real-time animation interactive editing system and method that can be used for robot motion training. Background Art
[0002] Robots have been widely used in various application fields. For example, in entertainment, robots can imitate the behavior of real people and objects to provide more fun for people, such as running and jumping. In rescue, robots can enter dangerous areas to search for trapped people and provide real-time information to help rescue teams perform tasks. In research, robots can enter places that are difficult to reach and collect data, such as geological surveys, environmental monitoring, and wildlife research. In order to achieve the above applications, it is a very important issue to enable robots to achieve target actions in any environment. At present, the common practice is to use motion capture or manual editing to obtain action animations, send the animations to the physical simulation platform, and then use the physical simulation platform to train a strategy that can achieve the target action in any environment. In the existing action training process, if the robot action is missing or there are unreasonable actions, the training results may be unsatisfactory. However, when performing simulation training on the existing physical simulation platform, the training results can only be known after the complete training process is completed. If the training results are not good, it is necessary to start from the beginning and simulate the training again, which will consume high computing time and cost. Therefore, the existing technology really needs to be improved. Summary of the invention
[0003] In order to solve the above problems, the present invention provides a real-time animation interactive editing system and method that can be used for robot motion training to solve the above problems.
[0004] The present invention provides a real-time animation interactive editing system, including: a physical simulation platform; and an animation processing device, including: an animation editing circuit, used to obtain an action animation related to a robot and provide the action animation to the physical simulation platform, so that the physical simulation platform performs simulation processing based on the action animation to generate a simulation result; and a comparison processing circuit, used to obtain the simulation result generated by the physical simulation platform in real time, compare the simulation result with the action animation to generate a comparison result; wherein the animation editing circuit edits the action animation according to the comparison result to generate an edited action animation and provides the edited action animation to the physical simulation platform. The present invention also provides a real-time animation interactive editing method, including: obtaining an action animation related to a robot and providing the action animation to a physical simulation platform, so that the physical simulation platform performs simulation processing based on the action animation to generate a simulation result; obtaining the simulation result generated by the physical simulation platform in real time and comparing the simulation result with the action animation to generate a comparison result; and editing the action animation according to the comparison result to generate an edited action animation and providing the edited action animation to the physical simulation platform. BRIEF DESCRIPTION OF THE DRAWINGS
[0005] Figure 1 Schematic diagram of a real-time animation interactive editing system according to an embodiment of the present invention.
[0006] Figure 2 A schematic diagram of a process of an embodiment of the present invention.
[0007] Figure 3 It is a schematic diagram of the properties and L1 loss value of the robot of the simulation result and action animation according to an embodiment of the present invention.
[0008] Component number description
[0009] 1 Real-time animation interactive editing system
[0010] 10 Physical Simulation Platform
[0011] 2 Process
[0012] 20 Animation Processing Device
[0013] 202 Animation Editing Circuit
[0014] 204 Comparison Processing Circuit
[0015] 302, 304, 306 solid curve
[0016] 308 Area
[0017] Steps S200, S202, S204, S206, S208 DETAILED DESCRIPTION
[0018] Certain words are used in the specification and subsequent patent applications to refer to specific components. Those with ordinary knowledge in the field should understand that manufacturers may use different terms to refer to the same component. This specification and subsequent patent applications do not use differences in names as a way to distinguish components, but use differences in the functions of components as the basis for distinction. The "include" or "comprising" mentioned throughout the specification and subsequent patent applications is an open-ended term and should be interpreted as "including but not limited to". In addition, the term "coupled" herein includes any direct and indirect electrical connection means. Therefore, if the text describes a first device coupled to a second device, it means that the first device can be directly electrically connected to the second device, or indirectly electrically connected to the second device through other devices or connection means.
[0019] Please refer to Figure 1 , Figure 1 Schematic diagram of a real-time animation interactive editing system 1 according to an embodiment of the present invention. The real-time animation interactive editing system 1 includes a physical simulation platform 10 and an animation processing device 20. The animation processing device 20 includes an animation editing circuit 202 and a comparison processing circuit 204. The animation editing circuit 202 is coupled to the comparison processing circuit 204 and the physical simulation platform 10, and is used to obtain an action animation related to a robot and provide the action animation to the physical simulation platform 10. The physical simulation platform 10 can perform simulation processing based on the action animation to generate a simulation result. The robot can be a quadruped robot, but is not limited to this. The physical simulation platform 10 can be an Isaac Gym simulation platform, but is not limited to this. The comparison processing circuit 204 is coupled to the animation editing circuit 202 and the physical simulation platform 10, and is used to compare the simulation result generated by the physical simulation platform 10 performing simulation processing based on the action animation with the action animation to generate a comparison result, so that the animation editing circuit 202 edits the action animation according to the comparison result to generate an edited action animation.
[0020] Please refer to Figure 2 , Figure 2 FIG. 2 is a schematic diagram of a process 2 of an embodiment of the present invention. Process 2 includes the following steps:
[0021] Step S200: Start.
[0022] Step S202: Obtain action animation related to the robot and provide the action animation to the physical simulation platform, so that the physical simulation platform performs simulation processing based on the action animation to generate simulation results.
[0023] Step S204: obtaining the simulation result generated by the physical simulation platform and comparing the simulation result with the action animation to generate a comparison result.
[0024] Step S206: Edit the action animation according to the comparison result to generate an edited action animation, and provide the edited action animation to the physical simulation platform.
[0025] Step S208: End.
[0026] According to process 2, in step S202, the animation editing circuit 202 can obtain a motion animation related to a robot. The animation editing circuit 202 can provide the motion animation to the physical simulation platform 10, so that the physical simulation platform 10 performs simulation training processing based on the motion animation to generate simulation results.
[0027] In step S204, when the physical simulation platform 10 performs simulation training processing based on the action animation related to the robot, the physical simulation platform 10 can return the simulation results generated by the simulation training processing based on the action animation to the animation processing device 20 in real time, and store and record these simulation results. The comparison processing circuit 204 of the animation processing device 20 can obtain the simulation results from the physical simulation platform 10 in real time. After the simulation results are obtained from the physical simulation platform 10 in real time, the comparison processing circuit 204 can analyze the simulation results generated by the physical simulation platform 10 to determine the problematic frames. In other words, the animation editing circuit 202 can obtain the simulation results generated by the physical simulation platform 10 from the physical simulation platform 10 in real time, and compare the simulation results with the action animation to generate a corresponding comparison result to indicate whether there is a difference between the simulation result and the action animation originally input and where there is a difference.
[0028] In step S204, after the simulation result is obtained in real time from the physical simulation platform 10, the comparison processing circuit 204 can compare the simulation result with the action animation frame by frame to generate a corresponding comparison result. For example, the comparison processing circuit 204 can compare the content in the first frame of the simulation result with the content in the first frame of the action animation to generate a comparison result. The comparison processing circuit 204 can compare the content in the second frame of the simulation result with the content in the second frame of the action animation to generate a comparison result, and so on.
[0029] In step S204, the comparison processing circuit 204 may compare an attribute of the robot in a frame of the simulation result (e.g., the nth frame of the simulation result) with an attribute of the robot in a corresponding frame of the action animation (e.g., the nth frame of the action animation) to generate a comparison result. The attributes of the robot may include the position of the robot, the rotation angle of the robot, the position of the robot action, the rotation angle of the robot action, the joint position, and the joint rotation angle, but are not limited thereto. The position may include the position on the x-axis, y-axis, and z-axis in the three-dimensional coordinates. The rotation angle may include the pitch angle rotating around the x-axis, the yaw angle rotating around the y-axis, and the roll angle rotating around the z-axis. For example, the comparison processing circuit 204 may compare at least one of the position of the robot, the rotation angle of the robot, the position of the robot action, the rotation angle of the robot action, the joint position, and the joint rotation angle in each frame of the simulation result and the action animation to generate a comparison result.
[0030] The comparison processing circuit 204 may use an L1 loss function to calculate an L1 loss value between the attributes of the robot in a frame of the simulation result (e.g., the nth frame of the simulation result) and the attributes of the robot in a corresponding frame of the action animation (e.g., the nth frame of the action animation). The larger the L1 loss value, the greater the difference between the attributes of the robot in the simulation result and the attributes of the robot in the action animation. Conversely, the smaller the L1 loss value, the smaller the difference between the attributes of the robot in the simulation result and the attributes of the robot in the action animation. For example, the comparison processing circuit 204 may calculate an absolute difference between the attributes of the robot in a frame of the simulation result and the attributes of the robot in the corresponding frame of the action animation to generate an L1 loss value corresponding to the attributes of the robot. After calculating the L1 loss value between the attributes of the robot in the simulation result and the corresponding frame of the action animation, the comparison processing circuit 204 may determine whether the calculated L1 loss value is greater than a threshold value. When it is determined that the L1 loss value is greater than the threshold value, it means that there is a significant difference between the simulation result and the motion animation. The comparison processing circuit 204 can generate a comparison result to indicate that there is a difference between the simulation result and the motion animation, thereby prompting where modification is required.
[0031] For example, see Figure 3 ,like Figure 3As shown, the solid line curve 302 represents the pitch angle of the robot in the action animation (for example, in degrees), and the solid line curve 304 represents the pitch angle of the robot in the simulation result. The solid line curve 306 represents the L1 loss value between the pitch angle of the robot in the simulation result and the pitch angle of the robot in the action animation. The comparison processing circuit 204 can calculate the L1 loss value between the pitch angle of the robot in the simulation result and the pitch angle of the robot in the action animation frame by frame. For example, the comparison processing circuit 204 can calculate the absolute difference between the pitch angle of the robot in a frame of the simulation result and the pitch angle of the robot in the corresponding frame of the action animation to generate an L1 loss value corresponding to the pitch angle of the robot. For example, assume that the threshold value of the L1 loss value is 0.25°. As Figure 3 As shown at 308, the robot pitch angle of the action animation is -0.25°, and the robot pitch angle of the simulation result is 0.02°. The comparison processing circuit 204 calculates that the absolute difference between the robot pitch angle of the simulation result and the robot pitch angle of the action animation is 0.27° (i.e., the L1 loss value corresponding to the robot pitch angle between the simulation result and the action animation is 0.27°). In this case, the comparison processing circuit 204 determines that the calculated L1 loss value (0.27°) is greater than the threshold value (0.25°), which indicates that there is a significant difference between the simulation result and the action animation. The comparison processing circuit 204 generates a comparison result to indicate that there is a difference between the simulation result and the action animation, and the L1 loss value corresponding to the robot pitch angle between the simulation result and the action animation is 0.27°.
[0032] In step S206, the animation editing circuit 202 can load the action animation and the robot model file in the unified robot description format (URDF). The robot model file in the unified robot description format can be an extensible markup language (XML) file format, which can be used to describe the robot structure, including the relationship and characteristics between components such as connections, joints, sensors, etc. Loading the robot model file to the animation editing circuit 202 helps modeling, simulating and controlling the operation of the robot. In step S206, when the comparison result indicates that there is a difference between the simulation result and the action animation, the animation editing circuit 202 can edit and modify the action animation according to the comparison result to generate an edited action animation and provide the edited action animation to the physical simulation platform 10, so that the physical simulation platform 10 can perform subsequent simulation training processing. When the physical simulation platform 10 receives the edited action animation, it can continue to perform subsequent simulation training processing according to the edited action animation and the previously recorded simulation results without re-executing the action simulation training processing, thereby effectively accelerating the action training process of the robot.
[0033] A person skilled in the art may combine, modify or change the above-described embodiments according to the spirit of the present invention, but is not limited thereto. All of the above statements, steps, and / or processes (including recommended steps) may be implemented by hardware, software, firmware (i.e., a combination of hardware devices and computer instructions, where the data in the hardware devices are read-only software data), electronic systems, or a combination of the above devices. The hardware may include analog, digital and hybrid circuits (i.e., microcircuits, microchips or silicon chips). For example, the hardware may be an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a programmable logic component, a coupled hardware component, or a combination of the above hardware. In other embodiments, the hardware may include a general purpose processor, a microprocessor, a controller, a digital signal processor (DSP), or a combination of the above hardware. The software may be a combination of program codes, a combination of instructions and / or a combination of functions (functionality), which is stored in a storage device, such as a computer readable recording medium or a non-transitory computer-readable medium. For example, the computer-readable recording medium may include read-only memory (ROM), flash memory, random-access memory (RAM), subscriber identity module (SIM), hard disk, floppy disk or CD-ROM / DVD-ROM / BD-ROM, but is not limited thereto. An embodiment of the present invention may include an animation processing device 20, and the animation processing device 20 includes a processing circuit (such as an animation editing circuit 202, a comparison processing circuit 204) and a storage device. The process steps and embodiments of the present invention may be compiled into a program code or instruction form and stored in the storage device of the animation processing device 20. The processing circuit of the animation processing device 20 can be used to read and execute the program code or instruction stored in the storage device to implement all the aforementioned steps and functions.
[0034] In summary, the physical simulation platform 10 of the embodiment of the present invention can transmit the simulation results generated by the simulation training process based on the action animation to the animation processing device 20 in real time during the simulation training, so that the animation processing device 20 can compare in real time whether there are differences between the simulation results and the action animation, and edit and correct the action animation based on the differences to generate the edited action animation to provide to the physical simulation platform 10 for subsequent simulation training. In this way, the embodiment of the present invention can adjust the undesirable parts of the original action animation in real time without re-performing the action simulation training process, thereby effectively accelerating the action training process of the robot.
[0035] The above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the present invention.
Claims
1. A real-time animation interactive editing system, characterized in that: include: A physical simulation platform; as well as An animation processing device, comprising: an animation editing circuit, used for obtaining an action animation related to a robot and providing the action animation to the physical simulation platform, so that the physical simulation platform performs simulation processing based on the action animation to generate a simulation result; as well as A comparison processing circuit, used for obtaining the simulation result generated by the physical simulation platform in real time and comparing the simulation result with the action animation to generate a comparison result; The animation editing circuit edits the action animation according to the comparison result to generate an edited action animation and provides the edited action animation to the physical simulation platform.
2. The real-time animation interactive editing system according to claim 1, characterized in that: The comparison processing circuit compares the simulation result with the motion animation in a frame-by-frame manner to generate the comparison result.
3. The real-time animation interactive editing system according to claim 1, characterized in that: The comparison processing circuit compares an attribute of the robot in a frame of the simulation result with the attribute of the robot in a corresponding frame of the action animation to generate the comparison result, wherein the attribute of the robot includes at least one of the position of the robot, the rotation angle, the position of the action, the rotation angle of the action, the position of the joint and the rotation angle of the joint.
4. The real-time animation interactive editing system according to claim 3, characterized in that: The comparison processing circuit calculates an L1 loss value of the attributes of the robot in the frame of the simulation result and the attributes of the robot in the corresponding frame of the action animation, and when it is determined that the L1 loss value is greater than a threshold value, the comparison processing circuit generates the comparison result to indicate that there is a difference between the simulation result and the action animation.
5. The real-time animation interactive editing system according to claim 1, characterized in that: When the comparison result indicates that there is a difference between the simulation result and the action animation, the animation editing circuit edits the action animation according to the comparison result to generate the edited action animation, and provides the edited action animation to the physical simulation platform.
6. A real-time animation interactive editing method, characterized in that: include︰ Obtaining an action animation related to a robot and providing the action animation to a physical simulation platform, so that the physical simulation platform performs simulation processing based on the action animation to generate a simulation result; Acquire the simulation result generated by the physical simulation platform in real time and compare the simulation result with the action animation to generate a comparison result; as well as The motion animation is edited according to the comparison result to generate an edited motion animation and the edited motion animation is provided to the physical simulation platform.
7. The real-time animation interactive editing method according to claim 6, characterized in that: The step of comparing the simulation result with the action animation to generate the comparison result comprises: The simulation result is compared with the motion animation in a frame-by-frame manner to generate the comparison result.
8. The real-time animation interactive editing method according to claim 6, characterized in that: The step of comparing the simulation result with the action animation to generate the comparison result comprises: Compare an attribute of the robot in a frame of the simulation result with the attribute of the robot in a corresponding frame of the action animation to generate the comparison result, wherein the attribute of the robot includes at least one of the position of the robot, the rotation angle, the position of the action, the rotation angle of the action, the position of the joint, and the rotation angle of the joint.
9. The real-time animation interactive editing method according to claim 8, characterized in that: The step of comparing the simulation result with the action animation to generate the comparison result comprises: Calculating an L1 loss value between the attribute of the robot in the frame of the simulation result and the attribute of the robot in the corresponding frame of the action animation; as well as When it is determined that the L1 loss value is greater than a threshold value, the comparison result is generated to indicate that there is a difference between the simulation result and the motion animation.
10. The real-time animation interactive editing method according to claim 6, characterized in that: The steps of editing the action animation according to the comparison result to generate the edited action animation and providing the edited action animation to the physical simulation platform include: When the comparison result indicates that there is a difference between the simulation result and the action animation, the action animation is edited according to the comparison result to generate the edited action animation and the edited action animation is provided to the physical simulation platform.