相关论文: Joint-Relation Transformer for Multi-Person Motion…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

A common approach to localize 3D human joints in a synchronized and calibrated multi-view setup consists of two-steps: (1) apply a 2D detector separately on each view to localize joints in 2D, and (2) perform robust triangulation on 2D…

This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…

Real-time human motion reconstruction from a sparse set of (e.g. six) wearable IMUs provides a non-intrusive and economic approach to motion capture. Without the ability to acquire position information directly from IMUs, recent works took…

A critical aspect of safe and efficient motion planning for autonomous vehicles (AVs) is to handle the complex and uncertain behavior of surrounding human-driven vehicles (HDVs). Despite intensive research on driver behavior prediction,…

Human motion prediction, i.e., forecasting future body poses given observed pose sequence, has typically been tackled with recurrent neural networks (RNNs). However, as evidenced by prior work, the resulted RNN models suffer from prediction…

The task of collaborative human pose forecasting stands for predicting the future poses of multiple interacting people, given those in previous frames. Predicting two people in interaction, instead of each separately, promises better…

Long term human motion prediction is essential in safety-critical applications such as human-robot interaction and autonomous driving. In this paper we show that to achieve long term forecasting, predicting human pose at every time instant…

3D skeleton-based action recognition and motion prediction are two essential problems of human activity understanding. In many previous works: 1) they studied two tasks separately, neglecting internal correlations; 2) they did not capture…

Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…

Predicting future human pose is a fundamental application for machine intelligence, which drives robots to plan their behavior and paths ahead of time to seamlessly accomplish human-robot collaboration in real-world 3D scenarios. Despite…

Pre-training on large datasets of robot demonstrations is a powerful technique for learning diverse manipulation skills but is often limited by the high cost and complexity of collecting robot-centric data, especially for tasks requiring…

Real-time recognition and prediction of surgical activities are fundamental to advancing safety and autonomy in robot-assisted surgery. This paper presents a multimodal transformer architecture for real-time recognition and prediction of…

Technologies to enable safe and effective collaboration and coexistence between humans and robots have gained significant importance in the last few years. A critical component useful for realizing this collaborative paradigm is the…

Understanding and predicting pedestrian crossing behavioral intention is crucial for the driving safety of autonomous vehicles. Nonetheless, challenges emerge when using promising images or environmental context masks to extract various…

This study investigates the task of dwell time prediction and proposes a Transformer framework based on interaction behavior modeling. The method first represents user interaction sequences on the interface by integrating dwell duration,…

Skeleton data carries valuable motion information and is widely explored in human action recognition. However, not only the motion information but also the interaction with the environment provides discriminative cues to recognize the…

3D instance segmentation aims to predict a set of object instances in a scene, representing them as binary foreground masks with corresponding semantic labels. Currently, transformer-based methods are gaining increasing attention due to…

This report reviews recent advancements in human motion prediction, reconstruction, and generation. Human motion prediction focuses on forecasting future poses and movements from historical data, addressing challenges like nonlinear…

Link prediction aims to identify potential missing triples in knowledge graphs. To get better results, some recent studies have introduced multimodal information to link prediction. However, these methods utilize multimodal information…