相关论文: Reducing Training Demands for 3D Gait Recognition …

This paper proposes a unified family of learnable Koopman operator parameterizations that integrate linear dynamical systems theory with modern deep learning forecasting architectures. We introduce four learnable Koopman…

Accurate lower-limb joint kinematic estimation is critical for applications such as patient monitoring, rehabilitation, and exoskeleton control. While previous studies have employed wearable sensor-based deep learning (DL) models for…

Human walking is a complex activity with a high level of cooperation and interaction between different systems in the body. Accurate detection of the phases of the gait in real-time is crucial to control lower-limb assistive devices like…

In this paper, we propose a Bayesian switching dynamical model for segmentation of 3D pose data over time that uncovers interpretable patterns in the data and is generative. Our model decomposes highly correlated skeleton data into a set of…

System representations inspired by the infinite-dimensional Koopman operator (generator) are increasingly considered for predictive modeling. Due to the operator's linearity, a range of nonlinear systems admit linear predictor…

Person identification is a problem that has received substantial attention, particularly in security domains. Gait recognition is one of the most convenient approaches enabling person identification at a distance without the need of…

Learning a stable Linear Dynamical System (LDS) from data involves creating models that both minimize reconstruction error and enforce stability of the learned representation. We propose a novel algorithm for learning stable LDSs. Using a…

Despite impressive dexterous manipulation capabilities enabled by learning-based approaches, we are yet to witness widespread adoption beyond well-resourced laboratories. This is likely due to practical limitations, such as significant…

Traditional control methods often show limitations in dealing with complex nonlinear systems, especially when it is difficult to accurately obtain the exact system model, and the control accuracy and stability are difficult to guarantee. To…

Recovering 3D human pose from 2D joints is a highly unconstrained problem. We propose a novel neural network framework, PoseNet3D, that takes 2D joints as input and outputs 3D skeletons and SMPL body model parameters. By casting our…

Controlling robots with strongly nonlinear, high-dimensional dynamics remains challenging, as direct nonlinear optimization with safety constraints is often intractable in real time. The Koopman operator offers a way to represent nonlinear…

Numerical approximation methods for the Koopman operator have advanced considerably in the last few years. In particular, data-driven approaches such as dynamic mode decomposition (DMD) and its generalization, the extended-DMD (EDMD), are…

While progress in 2D generative models of human appearance has been rapid, many applications require 3D avatars that can be animated and rendered. Unfortunately, most existing methods for learning generative models of 3D humans with diverse…

In this paper, we systematically derive a finite set of Koopman based observables to construct a lifted linear state space model that describes the rigid body dynamics based on the dual quaternion representation. In general, the Koopman…

Koopman operators are infinite-dimensional operators that linearize nonlinear dynamical systems, facilitating the study of their spectral properties and enabling the prediction of the time evolution of observable quantities. Recent methods…

Monitoring treatment response in longitudinal studies plays an important role in clinical practice. Accurately identifying lesions across serial imaging follow-up is the core to the monitoring procedure. Typically this incorporates both…

We present DLKoopman -- a software package for Koopman theory that uses deep learning to learn an encoding of a nonlinear dynamical system into a linear space, while simultaneously learning the linear dynamics. While several previous…

Predicting future human motion plays a significant role in human-machine interactions for various real-life applications. A unified formulation and multi-order modeling are two critical perspectives for analyzing and representing human…

As a unique biometric that can be perceived at a distance, gait has broad applications in person authentication, social security, and so on. Existing gait recognition methods suffer from changes in viewpoint and clothing and barely consider…

The use of gait for person identification has important advantages such as being non-invasive, unobtrusive, not requiring cooperation and being less likely to be obscured compared to other biometrics. Existing methods for gait recognition…