相关论文: Learning Speed-Adaptive Walking Agent Using Imitat…

Modeling how human moves in the space is useful for policy-making in transportation, public safety, and public health. Human movements can be viewed as a dynamic process that human transits between states (\eg, locations) over time. In the…

Accurate prediction of human movements is required to enhance the efficiency of physical human-robot interaction. Behavioral differences across various users are crucial factors that limit the prediction of human motion. Although recent…

We introduce a novel co-design method for autonomous moving agents' shape attributes and locomotion by combining deep reinforcement learning and evolution with user control. Our main inspiration comes from evolution, which has led to wide…

Training effective artificial intelligence models for telecommunications is challenging due to the scarcity of deployment-specific data. Real data collection is expensive, and available datasets often fail to capture the unique operational…

We propose in this paper Periodic Interaction Primitives - a probabilistic framework that can be used to learn compact models of periodic behavior. Our approach extends existing formulations of Interaction Primitives to periodic movement…

Insufficient data volume and quality are particularly pressing challenges in the adoption of modern subsymbolic AI. To alleviate these challenges, AI simulation uses virtual training environments in which AI agents can be safely and…

Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require multiple training samples per motion,…

Different technologies can acquire data for gait analysis, such as optical systems and inertial measurement units (IMUs). Each technology has its drawbacks and advantages, fitting best to particular applications. The presented multi-sensor…

Gait recognition is an important biometric for human identification at a distance, particularly under low-resolution or unconstrained environments. Current works typically focus on either 2D representations (e.g., silhouettes and skeletons)…

Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locomotive robustness -- the…

Simulators of animal movements play a valuable role in studying behavior. Advances in imitation learning for robotics have expanded possibilities for reproducing human and animal movements. A key challenge for realistic multi-animal…

Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…

Sim-to-real is a mainstream method to cope with the large number of trials needed by typical deep reinforcement learning methods. However, transferring a policy trained in simulation to actual hardware remains an open challenge due to the…

Immersive rooms are increasingly popular augmented reality systems that support multi-agent interactions within a virtual world. However, despite extensive content creation and technological developments, insights about perceptually-driven…

Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…

Recent advances in robotics have been largely driven by imitation learning, which depends critically on large-scale, high-quality demonstration data. However, collecting such data remains a significant challenge-particularly for mobile…

Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized over several footsteps. In this paper, we argue that it is not…

Bipedal walking is one of the most important hallmarks of human that robots have been trying to mimic for many decades. Although previous control methodologies have achieved robot walking on some terrains, there is a need for a framework…

Developing natural and diverse locomotion controllers for quadruped robots that can adapt to complex terrains while preserving motion style remains a significant challenge. Existing imitation-based methods face a fundamental optimization…

In order to enable high-quality decision making and motion planning of intelligent systems such as robotics and autonomous vehicles, accurate probabilistic predictions for surrounding interactive objects is a crucial prerequisite. Although…