Frame shapes, which are made of struts, have been widely used in many fields, such as art, sculpture, architecture, and geometric modeling, etc. An interest in robotic fabrication of frame shapes via spatial thermoplastic extrusion has been increasingly growing in recent years. In this paper, we present a novel algorithm to generate a feasible fabrication sequence for general frame shapes. To solve this non-trivial combinatorial problem, we develop a divide-and-conquer strategy that first decomposes the input frame shape into stable layers via a constrained sparse optimization model. Then we search a feasible sequence for each layer via a local optimization method together with a backtracking strategy. The generated sequence guarantees that the already-printed part is in a stable equilibrium state at all stages of fabrication, and that the 3D printing extrusion head does not collide with the printed part during the fabrication. Our algorithm has been validated by a built prototype robotic fabrication system made by a 6-axis KUKA robotic arm with a customized extrusion head. Experimental results demonstrate the feasibility and applicability of our algorithm.

Employing deep learning-based approaches for finegrained facial expression analysis, such as those involving the estimation of Action Unit (AU) intensities, is difficult due to the lack of a large-scale dataset of real faces with sufficiently diverse AU labels for training. In this paper, we consider how AU-level facial image synthesis can be used to substantially augment such a dataset. We propose an AU synthesis framework that combines the well-known 3D Morphable Model (3DMM), which intrinsically disentangles expression parameters from other face attributes, with models that adversarially generate 3DMM expression parameters conditioned on given target AU labels, in contrast to the more conventional approach of generating facial images directly. In this way, we are able to synthesize new combinations of expression parameters and facial images from desired AU labels. Extensive quantitative and qualitative results on the benchmark DISFA dataset demonstrate the effectiveness of our method on 3DMM facial expression parameter synthesis and data augmentation for deep learning-based AU intensity estimation.

Portraiture as an art form has evolved from realistic depiction into a plethora of creative styles. While substantial progress has been made in automated stylization, generating high quality stylistic portraits is still a challenge, and even the recent popular Toonify suffers from several artifacts when used on real input images. Such StyleGAN-based methods have focused on finding the best latent inversion mapping for reconstructing input images; however, our key insight is that this does not lead to good generalization to different portrait styles. Hence we propose AgileGAN, a framework that can generate high quality stylistic portraits via inversion-consistent transfer learning. We introduce a novel hierarchical variational autoencoder to ensure the inverse mapped distribution conforms to the original latent Gaussian distribution, while augmenting the original space to a multi-resolution latent space so as to better encode different levels of detail. To better capture attribute-dependent stylization of facial features, we also present an attribute-aware generator and adopt an early stopping strategy to avoid overfitting small training datasets. Our approach provides greater agility in creating high quality and high resolution (1024×1024) portrait stylization models, requiring only a limited number of style exemplars (~100) and short training time (~1 hour). We collected several style datasets for evaluation including 3D cartoons, comics, oil paintings and celebrities. We show that we can achieve superior portrait stylization quality to previous state-of-the-art methods, with comparisons done qualitatively, quantitatively and through a perceptual user study. We also demonstrate two applications of our method, image editing and motion retargeting.

a) Varying camera parameters (b) Varying body posesFigure 1: GETAvatar generates controllable human avatars with diverse textures and detailed geometries under full control over camera poses and body poses. Please refer to the Appendix for more multi-view and animation results.

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Teleconference or telepresence based on virtual reality (VR) headmount display (HMD) device is a very interesting and promising application since HMD can provide immersive feelings for users. However, in order to facilitate face-to-face communications for HMD users, real-time 3D facial performance capture of a person wearing HMD is needed, which is a very challenging task due to the large occlusion caused by HMD. The existing limited solutions are very complex either in setting or in approach as well as lacking the performance capture of 3D eye gaze movement. In this paper, we propose a convolutional neural network (CNN) based solution for real-time 3D face-eye performance capture of HMD users without complex modification to devices. To address the issue of lacking training data, we generate massive pairs of HMD face-label dataset by data synthesis as well as collecting VR-IR eye dataset from multiple subjects. Then, we train a dense-fitting network for facial region and an eye gaze network to regress 3D eye model parameters. Extensive experimental results demonstrate that our system can efficiently and effectively produce in real time a vivid personalized 3D avatar with the correct identity, pose, expression and eye motion corresponding to the HMD user.