相关论文: Elastic Functional Coding of Riemannian Trajectori…

For robots to work alongside humans and perform in unstructured environments, they must learn new motion skills and adapt them to unseen situations on the fly. This demands learning models that capture relevant motion patterns, while…

Human motion prediction, which aims to predict future human poses given past poses, has recently seen increased interest. Many recent approaches are based on Recurrent Neural Networks (RNN) which model human poses with exponential maps.…

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…

Manifold learning seeks a low dimensional representation that faithfully captures the essence of data. Current methods can successfully learn such representations, but do not provide a meaningful set of operations that are associated with…

We develop Riemannian approaches to variational autoencoders (VAEs) for PDE-type ambient data with regularizing geometric latent dynamics, which we refer to as VAE-DLM, or VAEs with dynamical latent manifolds. We redevelop the VAE framework…

Flight trajectory data plays a vital role in the traffic management community, especially for downstream tasks such as trajectory prediction, flight recognition, and anomaly detection. Existing works often utilize handcrafted features and…

We introduce the task of action-driven stochastic human motion prediction, which aims to predict multiple plausible future motions given a sequence of action labels and a short motion history. This differs from existing works, which predict…

Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…

We present a method for trajectory planning for autonomous driving, learning image-based context embeddings that align with motion prediction frameworks and planning-based intention input. Within our method, a ViT encoder takes raw images…

Variational auto-encoders (VAEs) have proven to be a well suited tool for performing dimensionality reduction by extracting latent variables lying in a potentially much smaller dimensional space than the data. Their ability to capture…

Modern machine learning increasingly leverages the insight that high-dimensional data often lie near low-dimensional, non-linear manifolds, an idea known as the manifold hypothesis. By explicitly modeling the geometric structure of data…

Despite decades of research, understanding human manipulation activities is, and has always been, one of the most attractive and challenging research topics in computer vision and robotics. Recognition and prediction of observed human…

An increasingly common viewpoint is that protein dynamics data sets reside in a non-linear subspace of low conformational energy. Ideal data analysis tools for such data sets should therefore account for such non-linear geometry. The…

It is shown that applying manifold learning techniques to Poincar\'e sections of high-dimensional, chaotic dynamical systems can uncover their low-dimensional topological organization. Manifold learning provides a low-dimensional embedding…

Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…

Landmark-based human action recognition in videos is a challenging task in computer vision. One key step is to design a generic approach that generates discriminative features for the spatial structure and temporal dynamics. To this end, we…

Predicting transportation modes from GPS (Global Positioning System) records is a hot topic in the trajectory mining domain. Each GPS record is called a trajectory point and a trajectory is a sequence of these points. Trajectory mining has…

Riemannian manifolds have been widely employed for video representations in visual classification tasks including video-based face recognition. The success mainly derives from learning a discriminant Riemannian metric which encodes the…

Capturing high-dimensional social interactions and feasible futures is essential for predicting trajectories. To address this complex nature, several attempts have been devoted to reducing the dimensionality of the output variables via…

Effective movement primitives should be capable of encoding and generating a rich repertoire of trajectories -- typically collected from human demonstrations -- conditioned on task-defining parameters such as vision or language inputs.…