相关论文: Learning Disentangled Representations for Controll…

Trajectory Prediction of dynamic objects is a widely studied topic in the field of artificial intelligence. Thanks to a large number of applications like predicting abnormal events, navigation system for the blind, etc. there have been many…

Sampling trajectories from a distribution followed by ranking them based on a specified cost function is a common approach in autonomous driving. Typically, the sampling distribution is hand-crafted (e.g a Gaussian, or a grid). Recently,…

Modeling trajectories generated by robot joints is complex and required for high level activities like trajectory generation, clustering, and classification. Disentagled representation learning promises advances in unsupervised learning,…

We present a novel unified framework that concurrently tackles recognition and future prediction for human hand pose and action modeling. Previous works generally provide isolated solutions for either recognition or prediction, which not…

We design a new approach that allows robot learning of new activities from unlabeled human example videos. Given videos of humans executing the same activity from a human's viewpoint (i.e., first-person videos), our objective is to make the…

Achieving expressive and generalizable whole-body motion control is essential for deploying humanoid robots in real-world environments. In this work, we propose UniTracker, a three-stage training framework that enables robust and scalable…

The key idea behind the unsupervised learning of disentangled representations is that real-world data is generated by a few explanatory factors of variation which can be recovered by unsupervised learning algorithms. In this paper, we…

The correct characterization of uncertainty when predicting human motion is equally important as the accuracy of this prediction. We present a new method to correctly predict the uncertainty associated with the predicted distribution of…

Video representation learning has recently attracted attention in computer vision due to its applications for activity and scene forecasting or vision-based planning and control. Video prediction models often learn a latent representation…

Variational autoencoders (VAEs) have recently been used for unsupervised disentanglement learning of complex density distributions. Numerous variants exist to encourage disentanglement in latent space while improving reconstruction.…

Predicting high-fidelity future human poses, from a historically observed sequence, is decisive for intelligent robots to interact with humans. Deep end-to-end learning approaches, which typically train a generic pre-trained model on…

Predicting the motion of dynamic agents is a critical task for guaranteeing the safety of autonomous systems. A particular challenge is that motion prediction algorithms should obey dynamics constraints and quantify prediction uncertainty…

This paper presents a hybrid motion planning strategy that combines a deep generative network with a conventional motion planning method. Existing planning methods such as A* and Hybrid A* are widely used in path planning tasks because of…

Representation learning is the foundation for the recent success of neural network models. However, the distributed representations generated by neural networks are far from ideal. Due to their highly entangled nature, they are di cult to…

The multi-modality and stochastic characteristics of human behavior make motion prediction a highly challenging task, which is critical for autonomous driving. While deep learning approaches have demonstrated their great potential in this…

This paper presents a novel yet intuitive approach to unsupervised feature learning. Inspired by the human visual system, we explore whether low-level motion-based grouping cues can be used to learn an effective visual representation.…

Disentangled representation learning is one of the major goals of deep learning, and is a key step for achieving explainable and generalizable models. A well-defined theoretical guarantee still lacks for the VAE-based unsupervised methods,…

Latent variable models such as the Variational Auto-Encoder (VAE) have become a go-to tool for analyzing biological data, especially in the field of single-cell genomics. One remaining challenge is the interpretability of latent variables…

Representation learning seeks to expose certain aspects of observed data in a learned representation that's amenable to downstream tasks like classification. For instance, a good representation for 2D images might be one that describes only…

Automatically reasoning about future human behaviors is a difficult problem but has significant practical applications to assistive systems. Part of this difficulty stems from learning systems' inability to represent all kinds of behaviors.…