相关论文: Comparison of Motion Encoding Frameworks on Human …

Motion generation, the task of synthesizing realistic motion sequences from various conditioning inputs, has become a central problem in computer vision, computer graphics, and robotics, with applications ranging from animation and virtual…

Within the context of trajectory planning for autonomous vehicles this paper proposes methods for efficient encoding of motion primitives in neural networks on top of model-based and gradient-free reinforcement learning. It is distinguished…

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…

Human motion synthesis aims to generate plausible human motion sequences, which has raised widespread attention in computer animation. Recent score-based generative models (SGMs) have demonstrated impressive results on this task. However,…

For a successful deployment of physical Human-Robot Cooperation (pHRC), humans need to be able to teach robots new motor skills quickly. Probabilistic movement primitives (ProMPs) are a promising method to encode a robot's motor skills…

This paper aims to deal with the ignored real-world complexities in prior work on human motion forecasting, emphasizing the social properties of multi-person motion, the diversity of motion and social interactions, and the complexity of…

Although end-to-end robot learning has shown some success for robot manipulation, the learned policies are often not sufficiently robust to variations in object pose or geometry. To improve the policy generalization, we introduce…

Recent advances in data-driven reinforcement learning and motion tracking have substantially improved humanoid locomotion, yet critical practical challenges remain. In particular, while low-level motion tracking and trajectory-following…

Human motion generation, a cornerstone technique in animation and video production, has widespread applications in various tasks like text-to-motion and music-to-dance. Previous works focus on developing specialist models tailored for each…

Generative models have shown promising results in capturing human mobility characteristics and generating synthetic trajectories. However, it remains challenging to ensure that the generated geospatial mobility data is semantically…

Dynamic manipulation is a key capability for advancing robot performance, enabling skills such as tossing. While recent learning-based approaches have pushed the field forward, most methods still rely on manually designed action…

Human motion prediction is an important and challenging task in many computer vision application domains. Recent work concentrates on utilizing the timing processing ability of recurrent neural networks (RNNs) to achieve smooth and reliable…

Motion prediction is essential and challenging for autonomous vehicles and social robots. One challenge of motion prediction is to model the interaction among traffic actors, which could cooperate with each other to avoid collisions or form…

Humanoid robot manipulation is a crucial research area for executing diverse human-level tasks, involving high-level semantic reasoning and low-level action generation. However, precise scene understanding and sample-efficient learning from…

Imitation learning techniques have been used as a way to transfer skills to robots. Among them, dynamic movement primitives (DMPs) have been widely exploited as an effective and an efficient technique to learn and reproduce complex discrete…

Multi-object tracking (MOT) is critical in numerous real-world applications, including surveillance, autonomous driving, and robotics. Accurately predicting object motion is fundamental to MOT, but current methods struggle with the…

Photorealistic reconstruction of street scenes is essential for developing real-world simulators in autonomous driving. While recent methods based on 3D/4D Gaussian Splatting (GS) have demonstrated promising results, they still encounter…

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…

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…

Maneuvering target tracking is a challenging problem for sensor systems because of the unpredictability of the targets' motions. This paper proposes a novel data-driven method for learning the dynamical motion model of a target.…