相关论文: Learning to Shift Attention for Motion Generation

Learning from Demonstration (LfD) is a popular approach to endowing robots with skills without having to program them by hand. Typically, LfD relies on human demonstrations in clutter-free environments. This prevents the demonstrations from…

Human Video Motion Transfer (HVMT) aims to, given an image of a source person, generate his/her video that imitates the motion of the driving person. Existing methods for HVMT mainly exploit Generative Adversarial Networks (GANs) to perform…

The rise of non-linear and interactive media such as video games has increased the need for automatic movement animation generation. In this survey, we review and analyze different aspects of building automatic movement generation systems…

The challenge of robotic reproduction -- making of new robots by recombining two existing ones -- has been recently cracked and physically evolving robot systems have come within reach. Here we address the next big hurdle: producing an…

Learning models of user behaviour is an important problem that is broadly applicable across many application domains requiring human-robot interaction. In this work we show that it is possible to learn a generative model for distinct user…

With the rapid progress of large language models (LLMs), multimodal frameworks that unify understanding and generation have become promising, yet they face increasing complexity as the number of modalities and tasks grows. We observe that…

Manipulation tasks often consist of subtasks, each representing a distinct skill. Mastering these skills is essential for robots, as it enhances their autonomy, efficiency, adaptability, and ability to work in their environment. Learning…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

Machine learning systems, especially with overparameterized deep neural networks, can generalize to novel test instances drawn from the same distribution as the training data. However, they fare poorly when evaluated on out-of-support test…

Diffusion models have marked a significant milestone in the enhancement of image and video generation technologies. However, generating videos that precisely retain the shape and location of moving objects such as robots remains a…

We pose a new problem, In-2-4D, for generative 4D (i.e., 3D + motion) inbetweening to interpolate two single-view images. In contrast to video/4D generation from only text or a single image, our interpolative task can leverage more precise…

For robots to handle the numerous factors that can affect them in the real world, they must adapt to changes and unexpected events. Evolutionary robotics tries to solve some of these issues by automatically optimizing a robot for a specific…

Video generation is one of the most challenging tasks in Machine Learning and Computer Vision fields of study. In this paper, we tackle the text to video generation problem, which is a conditional form of video generation. Humans can…

To equip robots with dexterous skills, an effective approach is to first transfer the desired skill via Learning from Demonstration (LfD), then let the robot improve it by self-exploration via Reinforcement Learning (RL). In this paper, we…

The attention mechanism is a fundamental component of the Transformer model, contributing to interactions among distinct tokens, in contrast to earlier feed-forward neural networks. In general, the attention scores are determined simply by…

Learning-based grasp detectors typically assume a precision grasp, where each finger only has one contact point, and estimate the grasp probability. In this work, we propose a data generation and learning pipeline that can leverage power…

Motion control is crucial for generating expressive and compelling video content; however, most existing video generation models rely mainly on text prompts for control, which struggle to capture the nuances of dynamic actions and temporal…

Real-time in-between motion generation is universally required in games and highly desirable in existing animation pipelines. Its core challenge lies in the need to satisfy three critical conditions simultaneously: quality, controllability…

We introduce an approach for augmenting text-to-video generation models with customized motions, extending their capabilities beyond the motions depicted in the original training data. By leveraging a few video samples demonstrating…

The problem of generalization in learning from demonstration (LfD) has received considerable attention over the years, particularly within the context of movement primitives, where a number of approaches have emerged. Recently, two…