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In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…
Human image animation aims to generate a human motion video from the inputs of a reference human image and a target motion video. Current diffusion-based image animation systems exhibit high precision in transferring human identity into…
Motion is a fundamental cue for scene analysis and human activity understan- ding in videos. It can be encoded in trajectories for tracking objects and for action recognition, or in form of flow to address behaviour analysis in crowded…
When humans navigate a crowed space such as a university campus or the sidewalks of a busy street, they follow common sense rules based on social etiquette. In this paper, we argue that in order to enable the design of new algorithms that…
Learning priors on trajectory distributions can help accelerate robot motion planning optimization. Given previously successful plans, learning trajectory generative models as priors for a new planning problem is highly desirable. Prior…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…
Pedestrian trajectory prediction is valuable for understanding human motion behaviors and it is challenging because of the social influence from other pedestrians, the scene constraints and the multimodal possibilities of predicted…
In this paper, we present DreaMoving, a diffusion-based controllable video generation framework to produce high-quality customized human videos. Specifically, given target identity and posture sequences, DreaMoving can generate a video of…
Recently, diffusion models have gained popularity and attention in trajectory optimization due to their capability of modeling multi-modal probability distributions. However, addressing nonlinear equality constraints, i.e, dynamic…
In this paper, we introduce a novel approach for autonomous driving trajectory generation by harnessing the complementary strengths of diffusion probabilistic models (a.k.a., diffusion models) and transformers. Our proposed framework,…
We present a novel character control framework that effectively utilizes motion diffusion probabilistic models to generate high-quality and diverse character animations, responding in real-time to a variety of dynamic user-supplied control…
Pervasive integration of GPS-enabled devices and data acquisition technologies has led to an exponential increase in GPS trajectory data, fostering advancements in spatial-temporal data mining research. Nonetheless, GPS trajectories contain…
Text-guided diffusion models such as DALLE-2, Imagen, eDiff-I, and Stable Diffusion are able to generate an effectively endless variety of images given only a short text prompt describing the desired image content. In many cases the images…
Recent advancements in diffusion and flow-matching models have demonstrated remarkable capabilities in high-fidelity image synthesis. A prominent line of research involves reward-guided guidance, which steers the generation process during…
Realistic driving simulation requires that NPCs not only mimic natural driving behaviors but also react to the behavior of other simulated agents. Recent developments in diffusion-based scenario generation focus on creating diverse and…
Animating objects' movements is widely used to facilitate tracking changes and observing both the global trend and local hotspots where objects converge or diverge. Existing methods, however, often obscure critical local hotspots by only…
Virtual fixtures assist human operators in teleoperation settings by constraining their actions. This extended abstract introduces a novel virtual fixture formulation \emph{on surfaces} for tactile robotics tasks. Unlike existing methods,…
Recent advancements in video generation have been greatly driven by video diffusion models, with camera motion control emerging as a crucial challenge in creating view-customized visual content. This paper introduces trajectory attention, a…
Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…
The human-like form of humanoid robots positions them uniquely to achieve the agility and versatility in motor skills that humans possess. Learning from human demonstrations offers a scalable approach to acquiring these capabilities.…