With new advancements in interaction techniques, character animation also requires new methods, to support fields such as robotics, and VR/AR. Interactive characters in such fields are becoming driven by AI which opens up the possibility of non-linear and open-ended narratives that may even include interaction with the real, physical world. This paper presents and describes ERIK, an expressive inverse kinematics technique aimed at such applications. Our technique allows an arbitrary kinematic chain, such as an arm, snake, or robotic manipulator, to exhibit an expressive posture while aiming its end-point towards a given target orientation. The technique runs in interactive-time and does not require any pre-processing step such as e.g. training in machine learning techniques, in order to support new embodiments or new postures. That allows it to be integrated in an artist-friendly workflow, bringing artists closer to the development of such AI-driven expressive characters, by allowing them to use their typical animation tools of choice, and to properly pre-visualize the animation during design-time, even on a real robot. The full algorithmic specification is presented and described so that it can be implemented and used throughout the communities of the various fields we address. We demonstrate ERIK on different virtual kinematic structures, and also on a low-fidelity robot that was crafted using wood and hobby-grade servos, to show how well the technique performs even on a low-grade robot. Our evaluation shows how well the technique performs, i.e., how well the character is able to point at the target orientation, while minimally disrupting its target expressive posture, and respecting its mechanical rotation limits.
Reinforcement learning with timed constraints for robotics motion planning
Department of Mechanical Engineering, Iowa Technology Institute, University of Iowa（机械工程系，Iowa技术研究所，爱荷华大学）；Talus Renewables, Inc.（Talus Renewables公司）；Department of Industrial, Electronic, and Mechanical Engineering, Roma Tre University（工业、电子和机械工程系，罗马三大学）
Shaping Expressiveness in Robotics: The Role of Design Tools in Crafting Embodied Robot Movements
CHArt Laboratory, Department of Psychology, University Paris8（巴黎第八大学心理学系CHArt实验室）；Lab of INIT Robots, Department of Mechanical Engineering, École de technologie supérieure（École de technologie supérieure机械工程系INIT机器人实验室）；Department of Dance, Université du Québec à Montréal（魁北克大学蒙特利尔分校舞蹈系）；Costech Laboratory, Department of Humanities and Social Sciences, Université technologique de Compiègne（Compiègne技术大学人文与社会科学系Costech实验室）
Interactive Expressive Motion Generation Using Dynamic Movement Primitives
Socially Intelligent Robotics Lab, Institute for Artificial Intelligence, University of Stuttgart（社会智能机器人实验室，人工智能研究所，斯图加特大学）；Collaborative Artificial Intelligence Group, Institute for Visualization and Interactive Systems, University of Stuttgart（协作人工智能小组，可视化与交互系统研究所，斯图加特大学）
Employing Socially Interactive Agents for Robotic Neurorehabilitation Training
German Research Center for Artificial Intelligence（德国人工智能研究中心）；National Research Council of Italy（意大利国家研究委员会）；Augsburg University（奥格斯堡大学）；Scientific Institute IRCCS E. Medea（E.梅迪亚IRCCS科学研究所）
UAIbot: Beginner-friendly web-based simulator for interactive robotics learning and research
Graduate Program in Electrical Engineering - Universidade Federal de Minas Gerais - Av. Antônio Carlos 6627, 31270-901, Belo Horizonte, MG, Brazil（巴西米纳斯吉拉斯联邦大学电气工程研究生项目）；Comenius University, Bratislava, Slovakia（斯洛伐克布拉迪斯拉发康门纽斯大学）
Mani-GPT: A Generative Model for Interactive Robotic Manipulation
Southern University of Science and Technology（南方科技大学）；PLA General Hospital（中国人民解放军总医院）；National Clinical Research Center for Orthopedics, Sports Medicine and Rehabilitation（国家骨科、运动医学与康复医学临床研究中心）
Choreographic and Somatic Approaches for the Development of Expressive Robotic Systems
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；Laban/Bartenieff Institute of Movement Studies（拉班/巴滕尼夫运动研究学院）；University of Virginia（弗吉尼亚大学）；Integrated Movement Studies（综合运动研究机构）；Coventry University（考文垂大学）；Harvard University（哈佛大学）
D3D-GEN: Robot-Aware Domain-Grounded Interactive 3D World Generation for Social Robotics
Singapore Management University（新加坡管理大学）；Technical University Berlin（柏林工业大学）；Max Planck Institute（马克斯·普朗克研究所）；Technical University Braunschweig（布伦瑞克工业大学）
Active Visuo-Tactile Interactive Robotic Perception for Accurate Object Pose Estimation in Dense Clutter
BMW Group（宝马集团）；University of Glasgow（格拉斯哥大学）；The Imperial College of Science, Technology and Medicine（帝国理工学院）；Donders Institute for Brain and Cognition, Radboud University（拉德堡德大学唐德斯脑认知研究所）
RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation
Peking University（北京大学）；National University of Singapore（新加坡国立大学）；Columbia University（哥伦比亚大学）；University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；Amazon（亚马逊公司）
ELEMENTAL: Interactive Learning from Demonstrations and Vision-Language Models for Reward Design in Robotics
School of Interactive Computing, Georgia Institute of Technology, Atlanta, United States（交互计算学院，佐治亚理工学院，美国亚特兰大）；Department of XXX, University of YYY, Location, Country（XXX系，YYY大学，Location Country）；School of ZZZ, Institute of WWW, Location, Country（ZZZ学院，WWW研究所，Location Country）
