相关论文: Minimum Jerk Trajectory Generation for Straight an…
A redundant manipulator has multiple inverse kinematics solutions per end-effector pose. Accordingly, there can be many trajectories for joints that follow a given endeffector path in the Cartesian space. In this paper, we present a…
This paper proposes a weakly-supervised learning framework for dynamics estimation from human motion. Although there are many solutions to capture pure human motion readily available, their data is not sufficient to analyze quality and…
We address the minimization of the sum of a proper, convex and lower semicontinuous with a (possibly nonconvex) smooth function from the perspective of an implicit dynamical system of forward-backward type. The latter is formulated by means…
Sketching is a direct and inexpensive means of visual expression. Though image-based sketching has been well studied, video-based sketch animation generation is still very challenging due to the temporal coherence requirement. In this…
Mobility trajectory data provide essential support for smart city applications. However, such data are often difficult to obtain. Meanwhile, most existing trajectory generation methods implicitly assume that at least a subset of real…
Randomly moving active particles can be herded into directed motion by asymmetric geometric structures. Although such a rectification process has been extensively studied due to its fundamental, biological, and technological relevance, a…
We consider the problem of designing a smooth trajectory that traverses a sequence of convex sets in minimum time, while satisfying given velocity and acceleration constraints. This problem is naturally formulated as a nonconvex program. To…
We consider the problem of approximating the moment generating function (MGF) of a truncated random variable in terms of the MGF of the underlying (i.e., untruncated) random variable. The purpose of approximating the MGF is to enable the…
An analysis is made of a moving disturbance using a directed cyclic graph. A statistical approach is used to calculate the alternative positions in space and state of the disturbance with a defined observed time. The probability for a…
The advances of modern localization techniques and the wide spread of mobile devices have provided us great opportunities to collect and mine human mobility trajectories. In this work, we focus on passively collected trajectories, which are…
The quadratic shortest path problem is the problem of finding a path in a directed graph such that the sum of interaction costs over all pairs of arcs on the path is minimized. We derive several semidefinite programming relaxations for the…
Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization…
Human movement analysis is a key area of research in robotics, biomechanics, and data science. It encompasses tracking, posture estimation, and movement synthesis. While numerous methodologies have evolved over time, a systematic and…
In optimal quantum-mechanical evolutions, motion can take place along paths of minimal length within an optimal time frame. Alternatively, optimal evolutions may occur along established paths without any waste of energy resources and…
In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical…
Although existing text-to-motion (T2M) methods can produce realistic human motion from text description, it is still difficult to align the generated motion with the desired postures since using text alone is insufficient for precisely…
Long-range human movement generation remains a central challenge in computer vision and graphics. Generating coherent transitions across semantically distinct motion domains remains largely unexplored. This capability is particularly…
Motor adaptation is a learning process that enables humans to regain proficiency when sensorimotor conditions are sustainably altered. Many studies have documented the properties of motor adaptation, yet the underlying mechanisms of motor…
In recent papers it has been suggested that human locomotion may be modeled as an inverse optimal control problem. In this paradigm, the trajectories are assumed to be solutions of an optimal control problem that has to be determined. We…
Human motion synthesis is a fundamental task in computer animation. Recent methods based on diffusion models or GPT structure demonstrate commendable performance but exhibit drawbacks in terms of slow sampling speeds and error accumulation.…