相关论文: Skeletal Feature Compensation for Imitation Learni…

Imitation learning has demonstrated strong performance in robotic manipulation by learning from large-scale human demonstrations. While existing models excel at single-task learning, it is observed in practical applications that their…

In skeleton-based human activity understanding, existing methods often adopt the contrastive learning paradigm to construct a discriminative feature space. However, many of these approaches fail to exploit the structural inter-class…

Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…

Supervised deep learning with pixel-wise training labels has great successes on multi-person part segmentation. However, data labeling at pixel-level is very expensive. To solve the problem, people have been exploring to use synthetic data…

One-shot imitation is to learn a new task from a single demonstration, yet it is a challenging problem to adopt it for complex tasks with the high domain diversity inherent in a non-stationary environment. To tackle the problem, we explore…

Modeling and prediction of human motion dynamics has long been a challenging problem in computer vision, and most existing methods rely on the end-to-end supervised training of various architectures of recurrent neural networks. Inspired by…

Many healthcare sensing applications utilize multimodal time-series data from sensors embedded in mobile and wearable devices. Federated Learning (FL), with its privacy-preserving advantages, is particularly well-suited for health…

In this study, we propose the use of the phase-amplitude reduction method to construct an imitation learning framework. Imitating human movement trajectories is recognized as a promising strategy for generating a range of human-like robot…

Humans take advantage of real world symmetries for various tasks, yet capturing their superb symmetry perception mechanism with a computational model remains elusive. Motivated by a new study demonstrating the extremely high inter-person…

Predicting human perceptual similarity is a challenging subject of ongoing research. The visual process underlying this aspect of human vision is thought to employ multiple different levels of visual analysis (shapes, objects, texture,…

The embodied learning of human motor control requires whole-body neuro-actuated musculoskeletal dynamics, while the internal muscle-driven processes underlying movement remain inaccessible to direct measurement. Computational modeling…

Learning natural and diverse behaviors from human motion datasets remains challenging in physics-based character control. Existing conditional adversarial models often suffer from tight and biased embedding distributions where embeddings…

We study multi-dataset training (MDT) for pose estimation, where skeletal heterogeneity presents a unique challenge that existing methods have yet to address. In traditional domains, \eg regression and classification, MDT typically relies…

We propose a structured prediction approach for robot imitation learning from demonstrations. Among various tools for robot imitation learning, supervised learning has been observed to have a prominent role. Structured prediction is a form…

Historically, feature-based approaches have been used extensively for camera-based robot perception tasks such as localization, mapping, tracking, and others. Several of these approaches also combine other sensors (inertial sensing, for…

Machine learning approaches to spatiotemporal physical systems have primarily focused on next-frame prediction, with the goal of learning an accurate emulator for the system's evolution in time. However, these emulators are computationally…

Understanding an agent's goals from its behavior is fundamental to aligning AI systems with human intentions. Existing goal recognition methods typically rely on an optimal goal-oriented policy representation, which may differ from the…

Multimodal human action understanding is a significant problem in computer vision, with the central challenge being the effective utilization of the complementarity among diverse modalities while maintaining model efficiency. However, most…

Human motion is highly diverse and dynamic, posing challenges for imitation learning algorithms that aim to generalize motor skills for controlling simulated characters. Previous methods typically rely on a universal full-body controller…

In this work, we consider one-shot imitation learning for object rearrangement tasks, where an AI agent needs to watch a single expert demonstration and learn to perform the same task in different environments. To achieve a strong…