相关论文: Lifting Motion to the 3D World via 2D Diffusion

Modeling temporal characteristics and the non-stationary dynamics of body movement plays a significant role in predicting human future motions. However, it is challenging to capture these features due to the subtle transitions involved in…

In this paper, we present a diffusion model-based framework for animating people from a single image for a given target 3D motion sequence. Our approach has two core components: a) learning priors about invisible parts of the human body and…

Manipulation has long been a challenging task for robots, while humans can effortlessly perform complex interactions with objects, such as hanging a cup on the mug rack. A key reason is the lack of a large and uniform dataset for teaching…

Diffusion generative models have demonstrated remarkable success in visual domains such as image and video generation. They have also recently emerged as a promising approach in robotics, especially in robot manipulations. Diffusion models…

Estimating the 3D position of human joints has become a widely researched topic in the last years. Special emphasis has gone into defining novel methods that extrapolate 2-dimensional data (keypoints) into 3D, namely predicting the…

Human motion prediction is a fundamental part of many human-robot applications. Despite the recent progress in human motion prediction, most studies simplify the problem by predicting the human motion relative to a fixed joint and/or only…

Estimating 3D human poses from 2D images remains challenging due to occlusions and projective ambiguity. Multi-view learning-based approaches mitigate these issues but often fail to generalize to real-world scenarios, as large-scale…

In 3D Human Motion Prediction (HMP), conventional methods train HMP models with expensive motion capture data. However, the data collection cost of such motion capture data limits the data diversity, which leads to poor generalizability to…

A key step towards understanding human behavior is the prediction of 3D human motion. Successful solutions have many applications in human tracking, HCI, and graphics. Most previous work focuses on predicting a time series of future 3D…

Learning to understand dynamic 3D scenes from imagery is crucial for applications ranging from robotics to scene reconstruction. Yet, unlike other problems where large-scale supervised training has enabled rapid progress, directly…

We present MotionDiffuser, a diffusion based representation for the joint distribution of future trajectories over multiple agents. Such representation has several key advantages: first, our model learns a highly multimodal distribution…

We present a unified perspective on tackling various human-centric video tasks by learning human motion representations from large-scale and heterogeneous data resources. Specifically, we propose a pretraining stage in which a motion…

This paper presents a neural architecture MVDiffusion++ for 3D object reconstruction that synthesizes dense and high-resolution views of an object given one or a few images without camera poses. MVDiffusion++ achieves superior flexibility…

Point cloud completion aims to recover the complete 3D shape of an object from partial observations. While approaches relying on synthetic shape priors achieved promising results in this domain, their applicability and generalizability to…

We present DuoMo, a generative method that recovers human motion in world-space coordinates from unconstrained videos with noisy or incomplete observations. Reconstructing such motion requires solving a fundamental trade-off: generalizing…

The ability to reliably perceive the environmental states, particularly the existence of objects and their motion behavior, is crucial for autonomous driving. In this work, we propose an efficient deep model, called MotionNet, to jointly…

Motion prediction, recently popularized as world models, refers to the anticipation of future agent states or scene evolution, which is rooted in human cognition, bridging perception and decision-making. It enables intelligent systems, such…

In the era of deep learning, human pose estimation from multiple cameras with unknown calibration has received little attention to date. We show how to train a neural model to perform this task with high precision and minimal latency…

We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data. Our approach is based on two…

Generating human motion from textual descriptions is a challenging task. Existing methods either struggle with physical credibility or are limited by the complexities of physics simulations. In this paper, we present \emph{ReinDiffuse} that…