Abstract: In some implementations, a method includes obtaining a semantic construction of a physical environment. In some implementations, the semantic construction of the physical environment includes a representation of a physical element and a semantic label for the physical element. In some implementations, the method includes obtaining a graphical representation of the physical element. In some implementations, the method includes synthesizing a perceptual property vector (PPV) for the graphical representation of the physical element based on the semantic label for the physical element. In some implementations, the PPV includes one or more perceptual characteristic values characterizing the graphical representation of the physical element. In some implementations, the method includes compositing an affordance in association with the graphical representation of the physical element.

Abstract: In some implementations, a method includes obtaining environmental data corresponding to a physical environment. In some implementations, the method includes determining, based on the environmental data, a bounding surface of the physical environment. In some implementations, the method includes detecting a physical element located within the physical environment based on the environmental data. In some implementations, the method includes determining a semantic label for the physical element based on at least a portion of the environmental data corresponding to the physical element. In some implementations, the method includes generating a semantic construction of the physical environment based on the environmental data. In some implementations, the semantic construction of the physical environment includes a representation of the bounding surface, a representation of the physical element and the semantic label for the physical element.

Abstract: Various implementations disclosed herein include devices, systems, and methods for granular motion control for a virtual agent. In various implementations, a device includes a non-transitory memory and one or more processors coupled with the non-transitory memory. In some implementations, a method includes obtaining an action for a virtual agent. In some implementations, the action is associated with a plurality of time frames. In some implementations, the method includes, for a first time frame of the plurality of time frames, determining respective confidence scores for a plurality of granular motions that advance the virtual agent towards completion of the action. In some implementations, the method includes selecting a subset of the plurality of granular motions based on the respective confidence scores.

Abstract: In some implementations, a device includes one or more sensors, one or more processors and a non-transitory memory. In some implementations, a method includes determining that a first portion of a physical environment is associated with a first saliency value and a second portion of the physical environment is associated with a second saliency value that is different from the first saliency value. In some implementations, the method includes obtaining, via the one or more sensors, environmental data corresponding to the physical environment. In some implementations, the method includes generating, based on the environmental data, a model of the physical environment by modeling the first portion with a first set of modeling features that is a function of the first saliency value and modeling the second portion with a second set of modeling features that is a function of the second saliency value.

Abstract: Various implementations disclosed herein include devices, systems, and methods for selecting a point-of-view (POV) for displaying an environment. In some implementations, a device includes a display, one or more processors, and a non-transitory memory. In some implementations, a method includes obtaining a request to display a graphical environment. The graphical environment is associated with a set of saliency values corresponding to respective portions of the graphical environment. A POV for displaying the graphical environment is selected based on the set of saliency values. The graphical environment is displayed from the selected POV on the display.

Abstract: In one implementation, a method for modeling a behavior with synthetic training data. The method includes: obtaining source content that includes an entity performing one or more actions within an environment; generating a first environment characterization vector characterizing the environment; generating a first set of behavioral trajectories associated with the one or more actions of the entity based on the source content and the first characterization vector for the environment; generating a second environment characterization vector for the environment by perturbing the first environment characterization vector; generating a second set of behavioral trajectories associated with one or more potential actions of the entity based on the source content and the second characterization vector for the environment; and training a behavior model for a virtual agent based on the first and second sets of behavioral trajectories in order to imitate the entity.

Abstract: Various implementations disclosed herein include devices, systems, and methods for granular motion control for a virtual agent. In various implementations, a device includes a non-transitory memory and one or more processors coupled with the non-transitory memory. In some implementations, a method includes obtaining an action for a virtual agent. In some implementations, the action is associated with a plurality of time frames. In some implementations, the method includes, for a first time frame of the plurality of time frames, determining respective confidence scores for a plurality of granular motions that advance the virtual agent towards completion of the action. In some implementations, the method includes selecting a subset of the plurality of granular motions based on the respective confidence scores.

Abstract: In one implementation, a method for generating a blended animation. The method includes: obtaining a motion input vector for a current time period; generating a motion output vector and pose information for the current time period based on the motion input vector; selecting an animated motion from a bank of animated motions for the current time period that matches the pose information within a threshold tolerance value; obtaining a blending coefficients vector for the current time period; generating a blended animation for the current time period by blending the motion output vector with the animated motion based on the blending coefficients vector; and generating a reward signal for the blended animation for the current time period.

Abstract: In one implementation, a method for improved motion planning. The method includes: obtaining a macro task for a virtual agent within a virtual environment; generating a search-tree based on at least one of the macro task, a state of the virtual environment, and a state of the virtual agent, wherein the search-tree includes a plurality of task nodes corresponding to potential tasks for performance by the virtual agent in furtherance of the macro task; and determining physical motion plans (PMPs) for at least some of the plurality of task nodes within the search-tree in order to generate a lookahead planning gradient for the first time, wherein a granularity of a PMP for a respective task node in the first search-tree is a function of the temporal distance of the respective task node from the first time.

Abstract: In various implementations, a device surveys a scene and presents, within the scene, a extended reality (XR) environment including one or more assets that evolve over time (e.g., change location or age). Modeling such an XR environment at various timescales can be computationally intensive, particularly when modeling the XR environment over larger timescales. Accordingly, in various implementations, different models are used to determine the environment state of the XR environment when presenting the XR environment at different timescales.

Abstract: In one implementation, a method for generating a blended animation. The method includes: obtaining a motion input vector for a current time period; generating a motion output vector and pose information for the current time period based on the motion input vector; selecting an animated motion from a bank of animated motions for the current time period that matches the pose information within a threshold tolerance value; obtaining a blending coefficients vector for the current time period; generating a blended animation for the current time period by blending the motion output vector with the animated motion based on the blending coefficients vector; and generating a reward signal for the blended animation for the current time period.

Abstract: In one implementation, a method of displaying content is performed at a device including a display, one or more processors, and non-transitory memory. The method includes scanning a first physical environment to detect a first physical object in the first physical environment and a second physical object in the first physical environment, wherein the first physical object meets at least one first object criterion and the second physical object meets at least one second object criterion. The method includes displaying, in association with the first physical environment, a virtual object moving along a first path from the first physical object to the second physical object.

Abstract: In one implementation, a method for generating a blended animation. The method includes: obtaining a motion input vector for a current time period; generating a motion output vector and pose information for the current time period based on the motion input vector; selecting an animated motion from a bank of animated motions for the current time period that matches the pose information within a threshold tolerance value; obtaining a blending coefficients vector for the current time period; generating a blended animation for the current time period by blending the motion output vector with the animated motion based on the blending coefficients vector; and generating a reward signal for the blended animation for the current time period.

Abstract: A method includes generating, in coordination with an emergent content engine, a first objective for a first objective-effectuator and a second objective for a second objective-effectuator instantiated in a computer-generated reality (CGR) environment. The first and second objectives are associated with a mutual plan. The method includes generating, based on characteristic values associated with the first and second objective-effectuators a first directive for the first objective-effectuator and a second directive for the second objective-effectuator. The first directive limits actions generated by the first objective-effectuator over a first set of time frames associated with the first objective and the second directive limits actions generated by the second objective-effectuator over a second set of time frames associated with the second objective.

Abstract: A method includes obtaining, by a motion generator that has been trained to generate torque values for a plurality of joints of a rig associated with a target, a set of parameters associated with a target motion. The method includes, in response to the target motion being a first type of motion, generating a first set of torque values for the plurality of joints based on the set of parameters and a set of previous poses of the target. The method includes, in response to the target motion being a second type of motion, generating a second set of torque values for the plurality of joints based on the set of parameters and the set of previous poses of the target. The method includes triggering a movement of the target in accordance with the first set of torque values or the second set of torque values.

Abstract: A method includes obtaining video data including a representation of a first plurality of motions of a real-world entity. The method includes determining, from the video data, a plurality of estimated torque values using a motion controller. The plurality of estimated torque values is associated with a plurality of real-world joints corresponding to the first plurality of motions. The method includes generating a second plurality of motions of a virtual agent by providing the plurality of estimated torque values to a corresponding plurality of virtual joints of the virtual agent. Movement of the virtual agent is controllable by the plurality of virtual joints, corresponding to the plurality of real-world joints of the real-world entity. The method includes, responsive to a determination that a comparison between the first plurality of motions and the second plurality of motions does not satisfy a performance metric, changing an operational value of the motion controller.

Abstract: In various implementations, a device surveys a scene and presents, within the scene, a extended reality (XR) environment including one or more assets that evolve over time (e.g., change location or age). Modeling such an XR environment at various timescales can be computationally intensive, particularly when modeling the XR environment over larger timescales. Accordingly, in various implementations, different models are used to determine the environment state of the XR environment when presenting the XR environment at different timescales.

Abstract: In some implementations, a method includes obtaining an objective for a computer-generated reality (CGR) representation of an objective-effectuator. In some implementations, the objective is associated with a plurality of time frames. In some implementations, the method includes determining a plurality of candidate plans that satisfy the objective. In some implementations, the method includes selecting a first candidate plan of the plurality of candidate plans based on a selection criterion. In some implementations, the method includes effectuating the first candidate plan in order to satisfy the objective. In some implementations, the first candidate plan triggers the CGR representation of the objective-effectuator to perform a series of actions over the plurality of time frames associated with the objective.

Abstract: In various implementations, a device surveys a scene and presents, within the scene, a extended reality (XR) environment including one or more assets that evolve over time (e.g., change location or age). Modeling such an XR environment at various timescales can be computationally intensive, particularly when modeling the XR environment over larger timescales. Accordingly, in various implementations, different models are used to determine the environment state of the XR environment when presenting the XR environment at different timescales.

Abstract: In some implementations, a method includes obtaining an objective for a computer-generated reality (CGR) representation of an objective-effectuator. In some implementations, the objective is associated with a plurality of time frames. In some implementations, the method includes determining a plurality of candidate plans that satisfy the objective. In some implementations, the method includes selecting a first candidate plan of the plurality of candidate plans based on a selection criterion. In some implementations, the method includes effectuating the first candidate plan in order to satisfy the objective. In some implementations, the first candidate plan triggers the CGR representation of the objective-effectuator to perform a series of actions over the plurality of time frames associated with the objective.