相关论文: DivDiff: A Conditional Diffusion Model for Diverse…

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,…

Video-based human pose transfer is a video-to-video generation task that animates a plain source human image based on a series of target human poses. Considering the difficulties in transferring highly structural patterns on the garments…

The differences in brain dynamics across human subjects, commonly referred to as human artifacts, have long been a challenge in the field, severely limiting the generalizability of brain dynamics recognition models. Traditional methods for…

Denoising diffusion probabilistic models that were initially proposed for realistic image generation have recently shown success in various perception tasks (e.g., object detection and image segmentation) and are increasingly gaining…

Recent advancements in diffusion models have greatly improved the quality and diversity of synthesized content. To harness the expressive power of diffusion models, researchers have explored various controllable mechanisms that allow users…

Human motion prediction is important for mobile service robots and intelligent vehicles to operate safely and smoothly around people. The more accurate predictions are, particularly over extended periods of time, the better a system can,…

This paper proposes DiffPF, a differentiable particle filter that leverages diffusion models for state estimation in dynamic systems. Unlike conventional differentiable particle filters, which require importance weighting and typically rely…

Human motion prediction model has applications in various fields of computer vision. Without taking into account the inherent stochasticity in the prediction of future pose dynamics, such methods often converges to a deterministic undesired…

Stochastic human motion prediction aims to generate diverse, plausible futures from observed sequences. Despite advances in generative modeling, existing methods often produce predictions corrupted by high-frequency jitter and temporal…

Dynamic point cloud pretraining is still dominated by masked reconstruction objectives. However, these objectives inherit two key limitations. Existing methods inject ground-truth tube centers as decoder positional embeddings, causing…

Multi-Robot Motion Planning (MRMP) involves generating collision-free trajectories for multiple robots operating in a shared continuous workspace. While discrete multi-agent path finding (MAPF) methods are broadly adopted due to their…

Recent advances in diffusion models hold significant potential in robotics, enabling the generation of diverse and smooth trajectories directly from raw representations of the environment. Despite this promise, applying diffusion models to…

Self-supervised learning has proved effective for skeleton-based human action understanding. However, previous works either rely on contrastive learning that suffers false negative problems or are based on reconstruction that learns too…

Accurate prediction of pedestrian trajectories is crucial for improving the safety of autonomous driving. However, this task is generally nontrivial due to the inherent stochasticity of human motion, which naturally requires the predictor…

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…

Human pose estimation (HPE) from Radio Frequency vision (RF-vision) performs human sensing using RF signals that penetrate obstacles without revealing privacy (e.g., facial information). Recently, mmWave radar has emerged as a promising…

Due to the high complexity and technical requirements of industrial production processes, surface defects will inevitably appear, which seriously affects the quality of products. Although existing lightweight detection networks are highly…

Human-centered images often suffer from severe generic degradation during transmission and are prone to human motion blur (HMB), making restoration challenging. Existing research lacks sufficient focus on these issues, as both problems…

This paper proposes a novel metric for Human Motion Prediction (HMP). Since a single past sequence can lead to multiple possible futures, a probabilistic HMP method predicts such multiple motions. While a single motion predicted by a…

Human motion prediction is a cornerstone of human-robot collaboration (HRC), as robots need to infer the future movements of human workers based on past motion cues to proactively plan their motion, ensuring safety in close collaboration…