相关论文: Socially and Contextually Aware Human Motion and P…

Accurate human motion prediction with well-calibrated uncertainty is critical for safe human-robot collaboration (HRC), where robots must anticipate and react to human movements in real time. We propose a structured multitask variational…

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…

This paper aims to deal with the ignored real-world complexities in prior work on human motion forecasting, emphasizing the social properties of multi-person motion, the diversity of motion and social interactions, and the complexity of…

Next location prediction is a critical task in human mobility modeling, enabling applications like travel planning and urban mobility management. Existing methods mainly rely on historical spatiotemporal trajectory data to train sequence…

Recent progress in stochastic motion prediction, i.e., predicting multiple possible future human motions given a single past pose sequence, has led to producing truly diverse future motions and even providing control over the motion of some…

As social beings, much human behavior is predicated on social context - the ambient social state that includes cultural norms, social signals, individual preferences, etc. In this paper, we propose a socially-aware task and motion planning…

Human motion forecasting, with the goal of estimating future human behavior over a period of time, is a fundamental task in many real-world applications. However, existing works typically concentrate on predicting the major joints of the…

Human robot collaboration (HRC) is becoming increasingly important as the paradigm of manufacturing is shifting from mass production to mass customization. The introduction of HRC can significantly improve the flexibility and intelligence…

Data-driven modeling of human motions is ubiquitous in computer graphics and computer vision applications, such as synthesizing realistic motions or recognizing actions. Recent research has shown that such problems can be approached by…

Autonomous driving systems must operate smoothly in human-populated indoor environments, where challenges arise including limited perception and occlusions when relying only on onboard sensors, as well as the need for socially compliant…

This work is dedicated to the study of how uncertainty estimation of the human motion prediction can be embedded into constrained optimization techniques, such as Model Predictive Control (MPC) for the social robot navigation. We propose…

Estimating full-body human motion via sparse tracking signals from head-mounted displays and hand controllers in 3D scenes is crucial to applications in AR/VR. One of the biggest challenges to this task is the one-to-many mapping from…

In physical human-robot interaction, force feedback has been the most common sensing modality to convey the human intention to the robot. It is widely used in admittance control to allow the human to direct the robot. However, it cannot be…

In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…

Human pose forecasting garners attention for its diverse applications. However, challenges in modeling the multi-modal nature of human motion and intricate interactions among agents persist, particularly with longer timescales and more…

The ability of intelligent systems to predict human behaviors is crucial, particularly in fields such as autonomous vehicle navigation and social robotics. However, the complexity of human motion have prevented the development of a…

Whole-body pose and shape estimation aims to jointly predict different behaviors (e.g., pose, hand gesture, facial expression) of the entire human body from a monocular image. Existing methods often exhibit degraded performance under the…

Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians.…

This paper presents a novel approach to solve simultaneously the problems of human activity recognition and whole-body motion and dynamics prediction for real-time applications. Starting from the dynamics of human motion and motor system…

Skeleton data carries valuable motion information and is widely explored in human action recognition. However, not only the motion information but also the interaction with the environment provides discriminative cues to recognize the…