Related papers: MoBind: Motion Binding for Fine-Grained IMU-Video …
Recent advancements in biology and chemistry have leveraged multi-modal learning, integrating molecules and their natural language descriptions to enhance drug discovery. However, current pre-training frameworks are limited to two…
We present ImageBind, an approach to learn a joint embedding across six different modalities - images, text, audio, depth, thermal, and IMU data. We show that all combinations of paired data are not necessary to train such a joint…
We present IMU2CLIP, a novel pre-training approach to align Inertial Measurement Unit (IMU) motion sensor recordings with video and text, by projecting them into the joint representation space of Contrastive Language-Image Pre-training…
Either RGB images or inertial signals have been used for the task of motion capture (mocap), but combining them together is a new and interesting topic. We believe that the combination is complementary and able to solve the inherent…
We present UniBind, a flexible and efficient approach that learns a unified representation space for seven diverse modalities -- images, text, audio, point cloud, thermal, video, and event data. Existing works, eg., ImageBind, treat the…
Motion retrieval is crucial for motion acquisition, offering superior precision, realism, controllability, and editability compared to motion generation. Existing approaches leverage contrastive learning to construct a unified embedding…
We propose a multi-sensor fusion method for capturing challenging 3D human motions with accurate consecutive local poses and global trajectories in large-scale scenarios, only using single LiDAR and 4 IMUs, which are set up conveniently and…
As the most essential property in a video, motion information is critical to a robust and generalized video representation. To inject motion dynamics, recent works have adopted frame difference as the source of motion information in video…
We present ImageBind-LLM, a multi-modality instruction tuning method of large language models (LLMs) via ImageBind. Existing works mainly focus on language and image instruction tuning, different from which, our ImageBind-LLM can respond to…
Multimodal representation alignment is pivotal for large language models and robotics. Traditional methods are often hindered by cross-modal information discrepancies and data scarcity, leading to suboptimal alignment spaces that overlook…
Leveraging wearable devices for motion reconstruction has emerged as an economical and viable technique. Certain methodologies employ sparse Inertial Measurement Units (IMUs) on the human body and harness data-driven strategies to model…
Inertial Measurement Units (IMUs) enable portable, multibody motion capture (MoCap) in diverse environments beyond the laboratory, making them a practical choice for diagnosing mobility disorders and supporting rehabilitation in clinical or…
Wearable inertial motion capture (MoCap) provides a portable, occlusion-free, and privacy-preserving alternative to camera-based systems, but its accuracy depends on tightly attached sensors - an intrusive and uncomfortable requirement for…
Research on multi-modal learning dominantly aligns the modalities in a unified space at training, and only a single one is taken for prediction at inference. However, for a real machine, e.g., a robot, sensors could be added or removed at…
Medical image analysis increasingly relies on the integration of multiple imaging modalities to capture complementary anatomical and functional information, enabling more accurate diagnosis and treatment planning. Achieving aligned feature…
Compared with visual signals, Inertial Measurement Units (IMUs) placed on human limbs can capture accurate motion signals while being robust to lighting variation and occlusion. While these characteristics are intuitively valuable to help…
3D human pose estimation is a key enabling technology for applications such as healthcare monitoring, human-robot collaboration, and immersive gaming, but real-world deployment remains challenged by viewpoint variations. Existing methods…
In this paper, we study state estimation of multi-visual-inertial systems (MVIS) and develop sensor fusion algorithms to optimally fuse an arbitrary number of asynchronous inertial measurement units (IMUs) or gyroscopes and global and(or)…
Unified multi-modal encoders that bind vision, audio, and other sensors into a shared embedding space are attractive building blocks for robot perception and decision-making. However, on-robot deployment exposes the vision branch to…
Sparse wearable inertial measurement units (IMUs) have gained popularity for estimating 3D human motion. However, challenges such as pose ambiguity, data drift, and limited adaptability to diverse bodies persist. To address these issues, we…