相关论文: Unsupervised Motion Retargeting for Human-Robot Im…

Imitation learning is a popular method for teaching robots new behaviors. However, most existing methods focus on teaching short, isolated skills rather than long, multi-step tasks. To bridge this gap, imitation learning algorithms must not…

Spatio-temporal action localization is an important problem in computer vision that involves detecting where and when activities occur, and therefore requires modeling of both spatial and temporal features. This problem is typically…

Motion retargeting holds a premise of offering a larger set of motion data for characters and robots with different morphologies. Many prior works have approached this problem via either handcrafted constraints or paired motion datasets,…

We design a new approach that allows robot learning of new activities from unlabeled human example videos. Given videos of humans executing the same activity from a human's viewpoint (i.e., first-person videos), our objective is to make the…

Data-driven modeling of human motions is ubiquitous in computer graphics and computer vision applications, such as synthesizing realistic motions or recognizing actions. Recent research has shown that such problems can be approached by…

Continuously-growing data volumes lead to larger generic models. Specific use-cases are usually left out, since generic models tend to perform poorly in domain-specific cases. Our work addresses this gap with a method for selecting…

Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel…

We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…

Many works in robot teaching either focus only on teaching task knowledge, such as geometric constraints, or motion knowledge, such as the motion for accomplishing a task. However, to effectively teach a complex task sequence to a robot, it…

An unsupervised human action modeling framework can provide useful pose-sequence representation, which can be utilized in a variety of pose analysis applications. In this work we propose a novel temporal pose-sequence modeling framework,…

Motion retargeting from a human demonstration to a robot is an effective way to reduce the professional requirements and workload of robot programming, but faces the challenges resulting from the differences between humans and robots.…

Human motion prediction is an important component to facilitate human robot interaction. Robots need to accurately predict human's future movement in order to safely plan its own motion trajectories and efficiently collaborate with humans.…

To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner.…

Unsupervised image-to-image translation methods aim to map images from one domain into plausible examples from another domain while preserving structures shared across two domains. In the many-to-many setting, an additional guidance example…

While deep learning has led to significant advances in visual recognition over the past few years, such advances often require a lot of annotated data. Unsupervised domain adaptation has emerged as an alternative approach that does not…

In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…

Direct image-to-graph transformation is a challenging task that involves solving object detection and relationship prediction in a single model. Due to this task's complexity, large training datasets are rare in many domains, making the…

Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate…

Recent deep learning methods for object detection rely on a large amount of bounding box annotations. Collecting these annotations is laborious and costly, yet supervised models do not generalize well when testing on images from a different…

A commercial robot, trained by its manufacturer to recognize a predefined number and type of objects, might be used in many settings, that will in general differ in their illumination conditions, background, type and degree of clutter, and…