相关论文: Using Probabilistic Movement Primitives in Analyzi…

Existing Graph Convolutional Networks to achieve human motion prediction largely adopt a one-step scheme, which output the prediction straight from history input, failing to exploit human motion patterns. We observe that human motions have…

Movement primitives (MPs) are compact representations of robot skills that can be learned from demonstrations and combined into complex behaviors. However, merely equipping robots with a fixed set of innate MPs is insufficient to deploy…

Model predictive control (MPC) is a promising technique for motion cueing in driving simulators, but its high computation time limits widespread real-time application. This paper proposes a hybrid algorithm that combines filter-based and…

Learning from Demonstration (LfD) stands as an efficient framework for imparting human-like skills to robots. Nevertheless, designing an LfD framework capable of seamlessly imitating, generalizing, and reacting to disturbances for…

This work adds on to the on-going efforts to provide more autonomy to space robots. Here the concept of programming by demonstration or imitation learning is used for trajectory planning of manipulators mounted on small spacecraft. For…

Despite impressive advancements of industrial collaborative robots, their potential remains largely untapped due to the difficulty in balancing human safety and comfort with fast production constraints. To help address this challenge, we…

With intelligent room-side sensing and service robots widely deployed, human motion prediction (HMP) is essential for safe, proactive assistance. However, many existing HMP methods either produce a single, deterministic forecast that…

This paper presents a novel method for learning reward functions for robotic motions by harnessing the power of a CLIP-based model. Traditional reward function design often hinges on manual feature engineering, which can struggle to…

Estimating human pose from video is a task that receives considerable attention due to its applicability in numerous 3D fields. The complexity of prior knowledge of human body movements poses a challenge to neural network models in the task…

Humans and animals are believed to use a very minimal set of trajectories to perform a wide variety of tasks including walking. Our main objective in this paper is two fold 1) Obtain an effective tool to realize these basic motion patterns…

Accurate human motion prediction (HMP) is critical for seamless human-robot collaboration, particularly in handover tasks that require real-time adaptability. Despite the high accuracy of state-of-the-art models, their computational…

In many robot control problems, factors such as stiffness and damping matrices and manipulability ellipsoids are naturally represented as symmetric positive definite (SPD) matrices, which capture the specific geometric characteristics of…

Human motion prediction is a stochastic process: Given an observed sequence of poses, multiple future motions are plausible. Existing approaches to modeling this stochasticity typically combine a random noise vector with information about…

We develop a method for learning periodic tasks from visual demonstrations. The core idea is to leverage periodicity in the policy structure to model periodic aspects of the tasks. We use active learning to optimize parameters of rhythmic…

We introduce Adaptive Functional Principal Component Analysis, a novel method to capture directions of variation in functional data that exhibit sharp changes in smoothness. We first propose a new adaptive scatterplot smoothing technique…

Over the last few decades, psychologists have developed sophisticated formal models of human categorization using simple artificial stimuli. In this paper, we use modern machine learning methods to extend this work into the realm of…

Humanoid control often leverages motion priors from human demonstrations to encourage natural behaviors. However, such demonstrations are frequently suboptimal or misaligned with robotic tasks due to embodiment differences, retargeting…

Videos contain rich spatio-temporal information. Traditional methods for extracting motion, used in tasks such as action recognition, often rely on visual contents rather than precise motion features. This phenomenon is referred to as…

The unsupervised Pretraining method has been widely used in aiding human action recognition. However, existing methods focus on reconstructing the already present frames rather than generating frames which happen in future.In this paper, We…

Human motion prediction is a necessary component for many applications in robotics and autonomous driving. Recent methods propose using sequence-to-sequence deep learning models to tackle this problem. However, they do not focus on…