相关论文: Human Motion Prediction via Pattern Completion in …

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,…

We present JointMotion, a self-supervised pre-training method for joint motion prediction in self-driving vehicles. Our method jointly optimizes a scene-level objective connecting motion and environments, and an instance-level objective to…

Various neural network based methods are capable of anticipating human body motions from data for a short period of time. What these methods lack are the interpretability and explainability of the network and its results. We propose to use…

Forecasting 3D human motion is an important embodiment of fine-grained understanding and cognition of human behavior by artificial agents. Current approaches excessively rely on implicit network modeling of spatiotemporal relationships and…

In this work we propose a novel solution for 3D skeleton-based human motion prediction. The objective of this task consists in forecasting future human poses based on a prior skeleton pose sequence. This involves solving two main challenges…

Previous work on predicting or generating 3D human pose sequences regresses either joint rotations or joint positions. The former strategy is prone to error accumulation along the kinematic chain, as well as discontinuities when using Euler…

Predicting trajectories of pedestrians is quintessential for autonomous robots which share the same environment with humans. In order to effectively and safely interact with humans, trajectory prediction needs to be both precise and…

As robots across domains start collaborating with humans in shared environments, algorithms that enable them to reason over human intent are important to achieve safe interplay. In our work, we study human intent through the problem of…

Human action-anticipation methods predict what is the future action by observing only a few portion of an action in progress. This is critical for applications where computers have to react to human actions as early as possible such as…

The primary goal of skeletal motion prediction is to generate future motion by observing a sequence of 3D skeletons. A key challenge in motion prediction is the fact that a motion can often be performed in several different ways, with each…

We introduce completion moment detection for actions - the problem of locating the moment of completion, when the action's goal is confidently considered achieved. The paper proposes a joint classification-regression recurrent model that…

The task of action-driven human motion prediction aims to forecast future human motion based on the observed sequence while respecting the given action label. It requires modeling not only the stochasticity within human motion but the…

Predicting the future motion of vehicles has been studied using various techniques, including stochastic policies, generative models, and regression. Recent work has shown that classification over a trajectory set, which approximates…

Understanding human motion is crucial for accurate pedestrian trajectory prediction. Conventional methods typically rely on supervised learning, where ground-truth labels are directly optimized against predicted trajectories. This amplifies…

We propose an efficient approach to exploiting motion information from consecutive frames of a video sequence to recover the 3D pose of people. Previous approaches typically compute candidate poses in individual frames and then link them in…

This early-stage research work aims to improve online human-robot imitation by translating sequences of joint positions from the domain of human motions to a domain of motions achievable by a given robot, thus constrained by its embodiment.…

In 3D human action recognition, limited supervised data makes it challenging to fully tap into the modeling potential of powerful networks such as transformers. As a result, researchers have been actively investigating effective…

Action recognition is a relatively established task, where givenan input sequence of human motion, the goal is to predict its ac-tion category. This paper, on the other hand, considers a relativelynew problem, which could be thought of as…

Object recognition and motion understanding are key components of perception that complement each other. While self-supervised learning methods have shown promise in their ability to learn from unlabeled data, they have primarily focused on…

The availability of affordable and portable depth sensors has made scanning objects and people simpler than ever. However, dealing with occlusions and missing parts is still a significant challenge. The problem of reconstructing a (possibly…