相关论文: CoMusion: Towards Consistent Stochastic Human Moti…

Long-term human motion prediction (LHMP) is essential for safely operating autonomous robots and vehicles in populated environments. It is fundamental for various applications, including motion planning, tracking, human-robot interaction…

Probabilistic forecasting is crucial for real-world spatiotemporal systems, such as climate, energy, and urban environments, where quantifying uncertainty is essential for informed, risk-aware decision-making. While diffusion models have…

Predicting human motion from historical pose sequence is crucial for a machine to succeed in intelligent interactions with humans. One aspect that has been obviated so far, is the fact that how we represent the skeletal pose has a critical…

As the pretraining technique is growing in popularity, little work has been done on pretrained learning-based motion prediction methods in autonomous driving. In this paper, we propose a framework to formalize the pretraining task for…

Diffusion models have emerged as a widely utilized and successful methodology in human motion synthesis. Task-oriented diffusion models have significantly advanced action-to-motion, text-to-motion, and audio-to-motion applications. In this…

Diffusions are a successful technique to sample from high-dimensional distributions. The target distribution can be either explicitly given or learnt from a collection of samples. They implement a diffusion process whose endpoint is a…

We explore the importance of spatial contextual information in human pose estimation. Most state-of-the-art pose networks are trained in a multi-stage manner and produce several auxiliary predictions for deep supervision. With this…

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…

Recent works in multimodal recommendations, which leverage diverse modal information to address data sparsity and enhance recommendation accuracy, have garnered considerable interest. Two key processes in multimodal recommendations are…

Diffusion models are increasingly used for robot learning, but current designs face a clear trade-off. Action-chunking diffusion policies like ManiCM are fast to run, yet they only predict short segments of motion. This makes them reactive,…

We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data. Our approach is based on two…

A key step towards understanding human behavior is the prediction of 3D human motion. Successful solutions have many applications in human tracking, HCI, and graphics. Most previous work focuses on predicting a time series of future 3D…

Human motion prediction aims to forecast future human poses given a historical motion. Whether based on recurrent or feed-forward neural networks, existing learning based methods fail to model the observation that human motion tends to…

In this paper, we develop a neural network model to predict future human motion from an observed human motion history. We propose a non-autoregressive transformer architecture to leverage its parallel nature for easier training and fast,…

When performing tasks like laundry, humans naturally coordinate both hands to manipulate objects and anticipate how their actions will change the state of the clothes. However, achieving such coordination in robotics remains challenging due…

Diffusion models have become a popular choice for human motion synthesis due to their powerful generative capabilities. However, their high computational complexity and large sampling steps pose challenges for real-time applications.…

While diffusion models can successfully generate data and make predictions, they are predominantly designed for static images. We propose an approach for efficiently training diffusion models for probabilistic spatiotemporal forecasting,…

Robust and accurate perception of humans in their 3D scene context is essential for integrating robots into everyday environments. Existing approaches, however, often fail to predict plausible and accurate human motion estimates that are…

In this study, we introduce a learning-based method for generating high-quality human motion sequences from text descriptions (e.g., ``A person walks forward"). Existing techniques struggle with motion diversity and smooth transitions in…

Generating realistic motions for digital humans is a core but challenging part of computer animations and games, as human motions are both diverse in content and rich in styles. While the latest deep learning approaches have made…