{"ID":2898926,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2507.03166","arxiv_id":"2507.03166","title":"Image-driven Robot Drawing with Rapid Lognormal Movements","abstract":"Large image generation and vision models, combined with differentiable rendering technologies, have become powerful tools for generating paths that can be drawn or painted by a robot. However, these tools often overlook the intrinsic physicality of the human drawing/writing act, which is usually executed with skillful hand/arm gestures. Taking this into account is important for the visual aesthetics of the results and for the development of closer and more intuitive artist-robot collaboration scenarios. We present a method that bridges this gap by enabling gradient-based optimization of natural human-like motions guided by cost functions defined in image space. To this end, we use the sigma-lognormal model of human hand/arm movements, with an adaptation that enables its use in conjunction with a differentiable vector graphics (DiffVG) renderer. We demonstrate how this pipeline can be used to generate feasible trajectories for a robot by combining image-driven objectives with a minimum-time smoothing criterion. We demonstrate applications with generation and robotic reproduction of synthetic graffiti as well as image abstraction.","short_abstract":"Large image generation and vision models, combined with differentiable rendering technologies, have become powerful tools for generating paths that can be drawn or painted by a robot. However, these tools often overlook the intrinsic physicality of the human drawing/writing act, which is usually executed with skillful...","url_abs":"https://arxiv.org/abs/2507.03166","url_pdf":"https://arxiv.org/pdf/2507.03166v1","authors":"[\"Daniel Berio\",\"Guillaume Clivaz\",\"Michael Stroh\",\"Oliver Deussen\",\"Réjean Plamondon\",\"Sylvain Calinon\",\"Frederic Fol Leymarie\"]","published":"2025-07-03T20:51:27Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.GR\"]","methods":"[]","has_code":false}