Related papers: Robots That Can See: Leveraging Human Pose for Tra…

Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…

From an image of a person in action, we can easily guess the 3D motion of the person in the immediate past and future. This is because we have a mental model of 3D human dynamics that we have acquired from observing visual sequences of…

We explore 3D human pose estimation from a single RGB image. While many approaches try to directly predict 3D pose from image measurements, we explore a simple architecture that reasons through intermediate 2D pose predictions. Our approach…

As robots increasingly integrate into everyday environments, ensuring their safe navigation around humans becomes imperative. Efficient and safe motion planning requires robots to account for human behavior, particularly in constrained…

Predictive human models often need to adapt their parameters online from human data. This raises previously ignored safety-related questions for robots relying on these models such as what the model could learn online and how quickly could…

Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focus on the ability of humanoid robots to navigate and deal…

Traditional path-planning techniques treat humans as obstacles. This has changed since robots started to enter human environments. On modern robots, social navigation has become an important aspect of navigation systems. To use…

Given a video of a person in action, we can easily guess the 3D future motion of the person. In this work, we present perhaps the first approach for predicting a future 3D mesh model sequence of a person from past video input. We do this…

Humans can easily understand a single image as depicting multiple potential objects permitting interaction. We use this skill to plan our interactions with the world and accelerate understanding new objects without engaging in interaction.…

Human trajectory prediction plays a crucial role in applications such as autonomous navigation and video surveillance. While recent works have explored the integration of human skeleton sequences to complement trajectory information,…

With wearable IMU sensors, one can estimate human poses from wearable devices without requiring visual input~\cite{von2017sparse}. In this work, we pose the question: Can we reason about object structure in real-world environments solely…

In this paper, we present Goal-GAN, an interpretable and end-to-end trainable model for human trajectory prediction. Inspired by human navigation, we model the task of trajectory prediction as an intuitive two-stage process: (i) goal…

Motion prediction in unstructured environments is a difficult problem and is essential for safe and efficient human-robot space sharing and collaboration. In this work, we focus on manipulation movements in environments such as homes,…

Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…

Prediction of movements is essential for successful cooperation with intelligent systems. We propose a model that integrates organized spatial information as given through the moving body's skeletal structure. This inherent structure is…

Autonomous transportation systems such as road vehicles or vessels require the consideration of the static and dynamic environment to dislocate without collision. Anticipating the behavior of an agent in a given situation is required to…

We present a generative approach to forecast long-term future human behavior in 3D, requiring only weak supervision from readily available 2D human action data. This is a fundamental task enabling many downstream applications. The required…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…

This paper focuses on the challenging problem of 3D pose estimation of a diverse spectrum of articulated objects from single depth images. A novel structured prediction approach is considered, where 3D poses are represented as skeletal…

Humanoid robots can, in principle, use their legs to go almost anywhere. Developing controllers capable of traversing diverse terrains, however, remains a considerable challenge. Classical controllers are hard to generalize broadly while…