相关论文: Self-Supervised Motion Retargeting with Safety Gua…

This paper introduces a novel self-supervised method that leverages incoherence detection for video representation learning. It roots from the observation that visual systems of human beings can easily identify video incoherence based on…

This paper presents a novel framework that enables real-world humanoid robots to maintain stability while performing human-like motion. Current methods train a policy which allows humanoid robots to follow human body using the massive…

Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…

3D human pose estimation (HPE) is characterized by intricate local and global dependencies among joints. Conventional supervised losses are limited in capturing these correlations because they treat each joint independently. Previous…

Estimating human pose, classifying actions, and predicting movement progress are essential for human-robot interaction. While vision-based methods suffer from occlusion and privacy concerns in realistic environments, tactile sensing avoids…

We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…

Estimating 3D human poses from video is a challenging problem. The lack of 3D human pose annotations is a major obstacle for supervised training and for generalization to unseen datasets. In this work, we address this problem by proposing a…

3D human motion prediction aims to generate coherent future motions from observed sequences, yet existing end-to-end regression frameworks often fail to capture complex dynamics and tend to produce temporally inconsistent or static…

Acquiring large-scale, high-fidelity robot demonstration data remains a critical bottleneck for scaling Vision-Language-Action (VLA) models in dexterous manipulation. We propose a Real-Sim-Real data collection and data editing pipeline that…

A deep generative model that describes human motions can benefit a wide range of fundamental computer vision and graphics tasks, such as providing robustness to video-based human pose estimation, predicting complete body movements for…

In this work, we aim to enable legged robots to learn how to interpret human social cues and produce appropriate behaviors through physical human guidance. However, learning through physical engagement can place a heavy burden on users when…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Imitation learning, which enables robots to learn behaviors from demonstrations by human, has emerged as a promising solution for generating robot motions in such environments. The imitation learning-based robot motion generation method,…

Human behavior understanding in videos is a complex, still unsolved problem and requires to accurately model motion at both the local (pixel-wise dense prediction) and global (aggregation of motion cues) levels. Current approaches based on…

Supervised approaches to 3D pose estimation from single images are remarkably effective when labeled data is abundant. However, as the acquisition of ground-truth 3D labels is labor intensive and time consuming, recent attention has shifted…

We introduce a method to generate 3D scenes that are disentangled into their component objects. This disentanglement is unsupervised, relying only on the knowledge of a large pretrained text-to-image model. Our key insight is that objects…

Learning meaningful visual representations in an embedding space can facilitate generalization in downstream tasks such as action segmentation and imitation. In this paper, we learn a motion-centric representation of surgical video…

Masked autoencoders (MAEs) have emerged recently as art self-supervised spatiotemporal representation learners. Inheriting from the image counterparts, however, existing video MAEs still focus largely on static appearance learning whilst…

Although significant progress has been achieved on monocular maker-less human motion capture in recent years, it is still hard for state-of-the-art methods to obtain satisfactory results in occlusion scenarios. There are two main reasons:…

Human motion generation is a challenging task that aims to create realistic motion imitating natural human behaviour. We focus on the well-studied behaviour of priming an object/location for pick up or put down - that is, the spotting of an…