相关论文: Modeling and Inferring Human Intents and Latent Fu…

Predicting pedestrian motion trajectories is critical for the path planning and motion control of autonomous vehicles. Recent diffusion-based models have shown promising results in capturing the inherent stochasticity of pedestrian behavior…

Multi-Object Tracking (MOT) aims to maintain stable and uninterrupted trajectories for each target. Most state-of-the-art approaches first detect objects in each frame and then implement data association between new detections and existing…

This work introduces an adaptive Bayesian algorithm for real-time trajectory prediction via intention inference, where a target's intentions and motion characteristics are unknown and subject to change. The method concurrently estimates two…

We investigate a human-like interpretable model of video understanding. Humans recognise complex activities in video by recognising critical spatio-temporal relations among explicitly recognised objects and parts, for example, an object…

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…

We study the task of predicting dynamic physical properties from videos. More specifically, we consider physical properties that require temporal information to be inferred: elasticity of a bouncing object, viscosity of a flowing liquid,…

In this paper we introduce a general estimation methodology for learning a model of human perception and control in a sensorimotor control task based upon a finite set of demonstrations. The model's structure consists of i the agent's…

Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…

The term "affordance" denotes the behavioral meaning of objects. We propose a cognitive architecture for the detection of affordances in the visual modality. This model is based on the internal simulation of movement sequences. For each…

With the substantial growth of logistics businesses the need for larger and more automated warehouses increases, thus giving rise to fully robotized shop-floors with mobile robots in charge of transporting and distributing goods. However,…

Traditional control and planning for robotic manipulation heavily rely on precise physical models and predefined action sequences. While effective in structured environments, such approaches often fail in real-world scenarios due to…

Spatio-temporal contexts are crucial in understanding human actions in videos. Recent state-of-the-art Convolutional Neural Network (ConvNet) based action recognition systems frequently involve 3D spatio-temporal ConvNet filters, chunking…

The prediction of humans' short-term trajectories has advanced significantly with the use of powerful sequential modeling and rich environment feature extraction. However, long-term prediction is still a major challenge for the current…

Perceiving and manipulating 3D articulated objects (e.g., cabinets, doors) in human environments is an important yet challenging task for future home-assistant robots. The space of 3D articulated objects is exceptionally rich in their…

Most human behaviors consist of multiple parts, steps, or subtasks. These structures guide our action planning and execution, but when we observe others, the latent structure of their actions is typically unobservable, and must be inferred…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in the last decades. One of the central challenges of manipulation is partial observability, as the agent usually does…

For machine agents to successfully interact with humans in real-world settings, they will need to develop an understanding of human mental life. Intuitive psychology, the ability to reason about hidden mental variables that drive observable…

Existing object navigation benchmarks usually tell an embodied agent which object category to find, such as microwave or chair. Human-facing embodied AI is often asked something less direct: "I need something to warm this food" or "the room…

This paper proposes a theory for understanding perceptual learning processes within the general framework of laws of nature. Neural networks are regarded as systems whose connections are Lagrangian variables, namely functions depending on…

Video understanding is one of the most challenging topics in computer vision. In this paper, a four-stage video understanding pipeline is presented to simultaneously recognize all atomic actions and the single on-going activity in a video.…