Related papers: A Motion Taxonomy for Manipulation Embedding
We introduce Programmatic Motion Concepts, a hierarchical motion representation for human actions that captures both low-level motion and high-level description as motion concepts. This representation enables human motion description,…
Software refactoring plays an important role in increasing code quality. One of the most popular refactoring types is the Move Method refactoring. It is usually applied when a method depends more on members of other classes than on its own…
Sound and movement are closely coupled, particularly in dance. Certain audio features have been found to affect the way we move to music. Is this relationship between sound and movement something which can be modelled using machine…
We propose a learning framework to find the representation of a robot's kinematic structure and motion embedding spaces using graph neural networks (GNN). Finding a compact and low-dimensional embedding space for complex phenomena is a key…
Human-centred systems require an understanding of human actions in the physical world. Temporally extended sequences of actions are intentional and structured, yet existing methods for recognising what actions are performed often do not…
Robust visual tracking is a challenging computer vision problem, with many real-world applications. Most existing approaches employ hand-crafted appearance features, such as HOG or Color Names. Recently, deep RGB features extracted from…
Text-driven human motion generation is a multimodal task that synthesizes human motion sequences conditioned on natural language. It requires the model to satisfy textual descriptions under varying conditional inputs, while generating…
Human motion retargeting for humanoid robots, transferring human motion data to robots for imitation, presents significant challenges but offers considerable potential for real-world applications. Traditionally, this process relies on human…
With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of…
Data-driven models of robot motion constructed using principles from Geometric Mechanics have been shown to produce useful predictions of robot motion for a variety of robots. For robots with a useful number of DoF, these geometric…
Audio embeddings enable large scale comparisons of the similarity of audio files for applications such as search and recommendation. Due to the subjectivity of audio similarity, it can be desirable to design systems that answer not only…
Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to…
In the context of embodied artificial intelligence, morphological computation refers to processes which are conducted by the body (and environment) that otherwise would have to be performed by the brain. Exploiting environmental and…
Due to recent advances in pose-estimation methods, human motion can be extracted from a common video in the form of 3D skeleton sequences. Despite wonderful application opportunities, effective and efficient content-based access to large…
Dynamic Scene Graph Generation (DSGG) aims to structurally model objects and their dynamic interactions in video sequences for high-level semantic understanding. However, existing methods struggle with fine-grained relationship modeling,…
Robotic motion generation methods using machine learning have been studied in recent years. Bilateral control-based imitation learning can imitate human motions using force information. By means of this method, variable speed motion…
There have been many proposals for algorithms segmenting human whole-body motion in the literature. However, the wide range of use cases, datasets, and quality measures that were used for the evaluation render the comparison of algorithms…
Our hands reveal important information such as the pulsing of our veins which help us determine the blood pressure, tremors indicative of motor control, or neurodegenerative disorders such as Essential Tremor or Parkinson's disease. The…
Mobile manipulators require coordinated control between navigation and manipulation to accomplish tasks. Typically, coordinated mobile manipulation behaviors have base navigation to approach the goal followed by arm manipulation to reach…
Recent advances in deep learning have enabled the generation of videos from textual descriptions as well as the prediction of future sequences from input videos. Similarly, in human motion modeling, motions can be generated from text or…