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

Character animation in real-world scenarios necessitates a variety of constraints, such as trajectories, key-frames, interactions, etc. Existing methodologies typically treat single or a finite set of these constraint(s) as separate control…

Learning grinding skills from human craftsmen via imitation learning has become a key research topic in robotic machining. Due to their strong generalization and robustness to external disturbances, Dynamical Movement Primitives (DMPs)…

Recent advances in deep learning have enabled the generation of videos from textual descriptions as well as the prediction of future sequences from input videos. Similarly, in human motion modeling, motions can be generated from text or…

Latent manifolds of autoencoders provide low-dimensional representations of data, which can be studied from a geometric perspective. We propose to describe these latent manifolds as implicit submanifolds of some ambient latent space. Based…

Latent space geometry provides a rigorous and empirically valuable framework for interacting with the latent variables of deep generative models. This approach reinterprets Euclidean latent spaces as Riemannian through a pull-back metric,…

Geodesic distance serves as a reliable means of measuring distance in nonlinear spaces, and such nonlinear manifolds are prevalent in the current multimodal learning. In these scenarios, some samples may exhibit high similarity, yet they…

Measuring the similarity between data points often requires domain knowledge, which can in parts be compensated by relying on unsupervised methods such as latent-variable models, where similarity/distance is estimated in a more compact…

This report reviews recent advancements in human motion prediction, reconstruction, and generation. Human motion prediction focuses on forecasting future poses and movements from historical data, addressing challenges like nonlinear…

The problem of identifying geometric structure in data is a cornerstone of (unsupervised) learning. As a result, Geometric Representation Learning has been widely applied across scientific and engineering domains. In this work, we…

Despite decades of work in fast reactive planning and control, challenges remain in developing reactive motion policies on non-Euclidean manifolds and enforcing constraints while avoiding undesirable potential function local minima. This…

Learning from demonstration allows robots to acquire complex skills from human demonstrations, but conventional approaches often require large datasets and fail to generalize across coordinate transformations. In this paper, we propose…

This paper addresses the critical and challenging task of developing emulators for simulating human operational motions in industrial workplaces. We conceptualize human motion as a sequence of human body shapes and develop statistical…

In this work, we develop an automated method to generate 3D human walking motion in simulation which is comparable to real-world human motion. At the core, our work leverages the ability of deep reinforcement learning methods to learn…

We develop Riemannian approaches to variational autoencoders (VAEs) for PDE-type ambient data with regularizing geometric latent dynamics, which we refer to as VAE-DLM, or VAEs with dynamical latent manifolds. We redevelop the VAE framework…

We revisit human motion synthesis, a task useful in various real world applications, in this paper. Whereas a number of methods have been developed previously for this task, they are often limited in two aspects: focusing on the poses while…

While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving…

The length of the geodesic between two data points along a Riemannian manifold, induced by a deep generative model, yields a principled measure of similarity. Current approaches are limited to low-dimensional latent spaces, due to the…

Transferring human motion skills to humanoid robots remains a significant challenge. In this study, we introduce a Wasserstein adversarial imitation learning system, allowing humanoid robots to replicate natural whole-body locomotion…

Accurate quantification of complex human movements, such as gait, is essential for clinical diagnosis and rehabilitation but is often limited by traditional linear models rooted in Euclidean geometry. These frameworks frequently fail to…

Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from trajectory data and synthesize a tracking controller with safety…