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

We present a generative model that learns to synthesize human motion from limited training sequences. Our framework provides conditional generation and blending across multiple temporal resolutions. The model adeptly captures human motion…

In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known target pose is encoded using DMPs (Dynamic Movement Primitives).…

Dynamic Movement Primitives have successfully been used to realize imitation learning, trial-and-error learning, reinforce- ment learning, movement recognition and segmentation and control. Because of this they have become a popular…

Recent progress in stochastic motion prediction, i.e., predicting multiple possible future human motions given a single past pose sequence, has led to producing truly diverse future motions and even providing control over the motion of some…

Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…

In 3D Human Motion Prediction (HMP), conventional methods train HMP models with expensive motion capture data. However, the data collection cost of such motion capture data limits the data diversity, which leads to poor generalizability to…

Learning system dynamics from observations is a critical problem in many applications over various real-world complex systems, e.g., climate, ecology, and fluid systems. Recently, neural dynamics modeling method have become a prevalent…

Learning a general motion tracking policy from human motions shows great potential for versatile humanoid whole-body control. Conventional approaches are not only inefficient in data utilization and training processes but also exhibit…

Language plays a vital role in the realm of human motion. Existing methods have largely depended on CLIP text embeddings for motion generation, yet they fall short in effectively aligning language and motion due to CLIP's pretraining on…

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…

Multi-robot systems require scalable and federated methods to model complex environments under computational and communication constraints. Gaussian Processes (GPs) offer robust probabilistic modeling, but suffer from cubic computational…

Temporal modeling and spatio-temporal collaboration are pivotal techniques for video-based human pose estimation. Most state-of-the-art methods adopt optical flow or temporal difference, learning local visual content correspondence across…

Recent advances in text-to-motion generation using diffusion and autoregressive models have shown promising results. However, these models often suffer from a trade-off between real-time performance, high fidelity, and motion editability.…

Human-centric motion control in video generation remains a critical challenge, particularly when jointly controlling camera movements and human poses in scenarios like the iconic Grammy Glambot moment. While recent video diffusion models…

Learning motion policies from expert demonstrations is an essential paradigm in modern robotics. While end-to-end models aim for broad generalization, they require large datasets and computationally heavy inference. Conversely, learning…

Human Motion Segmentation (HMS), which aims to partition a video into non-overlapping segments corresponding to different human motions, has recently attracted increasing research attention. Existing HMS approaches are predominantly based…

Movement primitives have the property to accommodate changes in the robot state while maintaining attraction to the original policy. As such, we investigate the use of primitives as a blending mechanism by considering that state deviations…

We propose a new representation of human body motion which encodes a full motion in a sequence of latent motion primitives. Recently, task generic motion priors have been introduced and propose a coherent representation of human motion…

The analysis of human movements has been extensively studied due to its wide variety of practical applications, such as human-robot interaction, human learning applications, or clinical diagnosis. Nevertheless, the state-of-the-art still…

This paper presents Latent Sampling-based Motion Planning (L-SBMP), a methodology towards computing motion plans for complex robotic systems by learning a plannable latent representation. Recent works in control of robotic systems have…