相关论文: A Motion Taxonomy for Manipulation Embedding

Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…

This paper addresses the Motion Execution Gap, the disconnect between high-level symbolic task descriptions using semantic constraints and executable robot motions. Motion Statecharts are introduced as an executable symbolic representation…

Persistent homology provides information about the lifetime of homology classes along a filtration of cell complexes. Persistence barcode is a graphical representation of such information. A filtration might be determined by time in a set…

This paper proposes a method to learn from human demonstration compliant contact motions, which take advantage of interaction forces between workpieces to align them, even when contact force may occur from different directions on different…

Sensemaking using automatically extracted information from text is a challenging problem. In this paper, we address a specific type of information extraction, namely extracting information related to descriptions of movement. Aggregating…

Language-guided human motion synthesis has been a challenging task due to the inherent complexity and diversity of human behaviors. Previous methods face limitations in generalization to novel actions, often resulting in unrealistic or…

Mining the underlying patterns in gigantic and complex data is of great importance to data analysts. In this paper, we propose a motion pattern approach to mine frequent behaviors in trajectory data. Motion patterns, defined by a set of…

This paper have two parts. In the first part we discuss word embeddings. We discuss the need for them, some of the methods to create them, and some of their interesting properties. We also compare them to image embeddings and see how word…

In the field of robot learning, coordinating robot actions through language instructions is becoming increasingly feasible. However, adapting actions to human instructions remains challenging, as such instructions are often qualitative and…

Perceiving the environment and its changes over time corresponds to two fundamental yet heterogeneous types of information: semantics and motion. Previous end-to-end autonomous driving works represent both types of information in a single…

Learning embedding functions, which map semantically related inputs to nearby locations in a feature space supports a variety of classification and information retrieval tasks. In this work, we propose a novel, generalizable and fast method…

There is a lot of research interest in encoding variable length sentences into fixed length vectors, in a way that preserves the sentence meanings. Two common methods include representations based on averaging word vectors, and…

Machine learning has become a promising approach for molecular modeling. Positional quantities, such as interatomic distances and bond angles, play a crucial role in molecule physics. The existing works rely on careful manual design of…

Predicting human motion in unstructured and dynamic environments is difficult as humans naturally exhibit complex behaviors that can change drastically from one environment to the next. In order to alleviate this issue, we propose to encode…

Character animation in real-world scenarios necessitates a variety of constraints, such as trajectories, key-frames, interactions, etc. Existing methodologies typically treat single or a finite set of these constraint(s) as separate control…

Styled motion in-betweening is crucial for computer animation and gaming. However, existing methods typically encode motion styles by modeling whole-body motions, often overlooking the representation of individual body parts. This…

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…

We examine a class of techniques for 3D object manipulation on mobile devices, in which the device's physical motion is applied to 3D objects displayed on the device itself. This "local coupling" between input and display creates specific…

Active localization is the problem of generating robot actions that allow it to maximally disambiguate its pose within a reference map. Traditional approaches to this use an information-theoretic criterion for action selection and…

Data-driven character animation techniques rely on the existence of a properly established model of motion, capable of describing its rich context. However, commonly used motion representations often fail to accurately encode the full…