相关论文: Reactive Motion Generation on Learned Riemannian M…

We study random walks on sub-Riemannian manifolds using the framework of retractions, i.e., approximations of normal geodesics. We show that such walks converge to the correct horizontal Brownian motion if normal geodesics are approximated…

Human pose, action, and motion generation are critical for applications in digital humans, character animation, and humanoid robotics. However, many existing methods struggle to produce physically plausible movements that are consistent…

Distance functions are crucial in robotics for representing spatial relationships between a robot and its environment. They provide an implicit, continuous, and differentiable representation that integrates seamlessly with control,…

Humanoid robots have demonstrated robust locomotion capabilities using Reinforcement Learning (RL)-based approaches. Further, to obtain human-like behaviors, existing methods integrate human motion-tracking or motion prior in the RL…

Many phenomena are naturally characterized by measuring continuous transformations such as shape changes in medicine or articulated systems in robotics. Modeling the variability in such datasets requires performing statistics on Lie groups,…

Several important algorithms for machine learning and data analysis use pairwise distances as input. On Riemannian manifolds these distances may be prohibitively costly to compute, in particular for large datasets. To tackle this problem,…

According to a version of Donsker's theorem, geodesic random walks on Riemannian manifolds converge to the respective Brownian motion. From a computational perspective, however, evaluating geodesics can be quite costly. We therefore…

This paper sheds light on the essential characteristics of geodesics, which frequently occur in considerations from motion in Euclidean space. Focus is mainly on a method of obtaining them from the calculus of variations, and an explicit…

This paper presents a new learning framework that leverages the knowledge from imitation learning, deep reinforcement learning, and control theories to achieve human-style locomotion that is natural, dynamic, and robust for humanoids. We…

Motion planning with constraints is an important part of many real-world robotic systems. In this work, we study manifold learning methods to learn such constraints from data. We explore two methods for learning implicit constraint…

Human motion prediction aims to forecast future human poses given a prior pose sequence. The discontinuity of the predicted motion and the performance deterioration in long-term horizons are still the main challenges encountered in current…

An increasingly common viewpoint is that protein dynamics data sets reside in a non-linear subspace of low conformational energy. Ideal data analysis tools for such data sets should therefore account for such non-linear geometry. The…

Humans have impressive generalization capabilities when it comes to manipulating objects and tools in completely novel environments. These capabilities are, at least partially, a result of humans having internal models of their bodies and…

Non-Euclidean constraints are inherent in many kinds of data in computer vision and machine learning, typically as a result of specific invariance requirements that need to be respected during high-level inference. Often, these geometric…

In this paper, we propose a method to learn a minimizing geodesic within a data manifold. Along the learned geodesic, our method can generate high-quality interpolations between two given data samples. Specifically, we use an autoencoder…

Myocardial motion and deformation are rich descriptors that characterize cardiac function. Image registration, as the most commonly used technique for myocardial motion tracking, is an ill-posed inverse problem which often requires prior…

Real-time motion generation -- which is essential for achieving reactive and adaptive behavior -- under kinodynamic constraints for high-dimensional systems is a crucial yet challenging problem. We address this with a two-step approach:…

Learning skills that interact with objects is of major importance for robotic manipulation. These skills can indeed serve as an efficient prior for solving various manipulation tasks. We propose a novel Skill Learning approach that…

This paper presents a novel recurrent neural network-based method to construct a latent motion manifold that can represent a wide range of human motions in a long sequence. We introduce several new components to increase the spatial and…

We propose to learn a probabilistic motion model from a sequence of images for spatio-temporal registration. Our model encodes motion in a low-dimensional probabilistic space - the motion matrix - which enables various motion analysis tasks…