Related papers: Invariant Descriptors of Motion and Force Trajecto…
Identifying the trajectories of rigid bodies and of interaction forces is essential for a wide range of tasks in robotics, biomechanics, and related domains. These tasks include trajectory segmentation, recognition, and prediction. For…
Motion trajectory recognition is important for characterizing the moving property of an object. The speed and accuracy of trajectory recognition rely on a compact and discriminative feature representation, and the situations of varying…
The ability of robots to recognize human gestures facilitates a natural and accessible human-robot collaboration. However, most work in gesture recognition remains rooted in reference frame-dependent representations. This poses a challenge…
The ability to detect similar actions across videos can be very useful for real-world applications in many fields. However, this task is still challenging for existing systems, since videos that present the same action, can be taken from…
This paper presents a unique approach for the dichotomy between useful and adverse variations of key-point descriptors, namely the identity and the expression variations in the descriptor (feature) space. The descriptors variations are…
Trajectory segmentation refers to dividing a trajectory into meaningful consecutive sub-trajectories. This paper focuses on trajectory segmentation for 3D rigid-body motions. Most segmentation approaches in the literature represent the…
Identifying human actions in complex scenes is widely considered as a challenging research problem due to the unpredictable behaviors and variation of appearances and postures. For extracting variations in motion and postures, trajectories…
Motion behaviors of a rigid body can be characterized by a 6-dimensional motion trajectory, which contains position vectors of a reference point on the rigid body and rotations of this rigid body over time. This paper devises a Rotation and…
This paper presents a novel approach using sensitivity analysis for generalizing Differential Dynamic Programming (DDP) to systems characterized by implicit dynamics, such as those modelled via inverse dynamics and variational or implicit…
We present Neural Descriptor Fields (NDFs), an object representation that encodes both points and relative poses between an object and a target (such as a robot gripper or a rack used for hanging) via category-level descriptors. We employ…
This paper explores visual motion-based invariants, resulting in a new instantaneous domain where: a) the stationary environment is perceived as unchanged, even as the 2D images undergo continuous changes due to camera motion, b) obstacles…
Humans intuitively solve tasks in versatile ways, varying their behavior in terms of trajectory-based planning and for individual steps. Thus, they can easily generalize and adapt to new and changing environments. Current Imitation Learning…
While invariant measures are widely employed to analyze physical systems when a direct study of pointwise trajectories is intractable, e.g., due to chaos or noise, they cannot uniquely identify the underlying dynamics. Our first result…
Statistical classification of actions in videos is mostly performed by extracting relevant features, particularly covariance features, from image frames and studying time series associated with temporal evolutions of these features. A…
Human action recognition from skeletal data is an important and active area of research in which the state of the art has not yet achieved near-perfect accuracy on many well-known datasets. In this paper, we introduce the Distribution of…
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…
This paper focuses on visual motion-based invariants that result in a representation of 3D points in which the stationary environment remains invariant, ensuring shape constancy. This is achieved even as the images undergo constant change…
Differentiable physics is a powerful tool in computer vision and robotics for scene understanding and reasoning about interactions. Existing approaches have frequently been limited to objects with simple shape or shapes that are known in…
Grasping accuracy is a critical prerequisite for precise object manipulation, often requiring careful alignment between the robot hand and object. Neural Descriptor Fields (NDF) offer a promising vision-based method to generate grasping…
Trajectory prediction is a fundamental and challenging task for numerous applications, such as autonomous driving and intelligent robots. Currently, most of existing work treat the pedestrian trajectory as a series of fixed two-dimensional…