相关论文: DE-TGN: Uncertainty-Aware Human Motion Forecasting…

In this work, we introduce Deep Bingham Networks (DBN), a generic framework that can naturally handle pose-related uncertainties and ambiguities arising in almost all real life applications concerning 3D data. While existing works strive to…

Continuous prediction of finger joint movement using historical joint positions/rotations is vital in a multitude of applications, especially related to virtual reality, computer graphics, robotics, and rehabilitation. However, finger…

We propose a framework for vision-based human pose estimation and motion prediction that gives conformal prediction guarantees for certifiably safe human-robot collaboration. Our framework combines aleatoric uncertainty estimation with OOD…

Robotic navigation through crowds or herds requires the ability to both predict the future motion of nearby individuals and understand how these predictions might change in response to a robot's future action. State of the art trajectory…

Recently, deep learning has emerged as a promising tool for statistical downscaling, the set of methods for generating high-resolution climate fields from coarse low-resolution variables. Nevertheless, their ability to generalize to climate…

To plan safe trajectories in urban environments, autonomous vehicles must be able to quickly assess the future intentions of dynamic agents. Pedestrians are particularly challenging to model, as their motion patterns are often uncertain…

Fast estimates of model uncertainty are required for many robust robotics applications. Deep Ensembles provides state of the art uncertainty without requiring Bayesian methods, but still it is computationally expensive. In this paper we…

Human motion prediction is an essential part for human-robot collaboration. Unlike most of the existing methods mainly focusing on improving the effectiveness of spatiotemporal modeling for accurate prediction, we take effectiveness and…

Given their flexibility and encouraging performance, deep-learning models are becoming standard for motion prediction in autonomous driving. However, with great flexibility comes a lack of interpretability and possible violations of…

Graph Convolutional Networks (GCN) which typically follows a neural message passing framework to model dependencies among skeletal joints has achieved high success in skeleton-based human motion prediction task. Nevertheless, how to…

Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians.…

In this paper, we tackle the task of scene-aware 3D human motion forecasting, which consists of predicting future human poses given a 3D scene and a past human motion. A key challenge of this task is to ensure consistency between the human…

Stochastic Human Motion Prediction (HMP) has received increasing attention due to its wide applications. Despite the rapid progress in generative fields, existing methods often face challenges in learning continuous temporal dynamics and…

As robots are becoming more and more ubiquitous in human environments, it will be necessary for robotic systems to better understand and predict human actions. However, this is not an easy task, at times not even for us humans, but based on…

Motion prediction in unstructured environments is a difficult problem and is essential for safe and efficient human-robot space sharing and collaboration. In this work, we focus on manipulation movements in environments such as homes,…

Traffic flow forecasting is a crucial task in intelligent transport systems. Deep learning offers an effective solution, capturing complex patterns in time-series traffic flow data to enable the accurate prediction. However, deep learning…

Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…

With potential applications in fields including intelligent surveillance and human-robot interaction, the human motion prediction task has become a hot research topic and also has achieved high success, especially using the recent Graph…

Autonomous vehicle navigation in shared pedestrian environments requires the ability to predict future crowd motion both accurately and with minimal delay. Understanding the uncertainty of the prediction is also crucial. Most existing…

As robots across domains start collaborating with humans in shared environments, algorithms that enable them to reason over human intent are important to achieve safe interplay. In our work, we study human intent through the problem of…