相关论文: Physical Plausibility-aware Trajectory Prediction …

Reliable anticipation of pedestrian trajectory is imperative for the operation of autonomous vehicles and can significantly enhance the functionality of advanced driver assistance systems. While significant progress has been made in the…

Trajectory prediction has been widely pursued in many fields, and many model-based and model-free methods have been explored. The former include rule-based, geometric or optimization-based models, and the latter are mainly comprised of deep…

An accurate and uncertainty-aware 3D human body pose estimation is key to enabling truly safe but efficient human-robot interactions. Current uncertainty-aware methods in 3D human pose estimation are limited to predicting the uncertainty of…

Until recently Intelligence, Surveillance, and Reconnaissance (ISR) focused on acquiring behavioral information of the targets and their activities. Continuous evolution of intelligence being gathered of the human centric activities has put…

The precise prediction of human mobility has produced significant socioeconomic impacts, such as location recommendations and evacuation suggestions. However, existing methods suffer from limited generalization capability: unimodal…

Although significant progress has been achieved on monocular maker-less human motion capture in recent years, it is still hard for state-of-the-art methods to obtain satisfactory results in occlusion scenarios. There are two main reasons:…

Human motion prediction is an important and challenging topic that has promising prospects in efficient and safe human-robot-interaction systems. Currently, the majority of the human motion prediction algorithms are based on deterministic…

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…

Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic…

In this work, Transition Probability Matrix (TPM) is proposed as a new method for extracting the features of nodes in the graph. The proposed method uses random walks to capture the connectivity structure of a node's close neighborhood. The…

Multimodal semantic cues, such as textual descriptions, have shown strong potential in enhancing target perception for tracking. However, existing methods rely on static textual descriptions from large language models, which lack…

Pedestrian trajectory prediction plays a pivotal role in the realms of autonomous driving and smart cities. Despite extensive prior research employing sequence and generative models, the unpredictable nature of pedestrians, influenced by…

The inherently diverse and uncertain nature of trajectories presents a formidable challenge in accurately modeling them. Motion prediction systems must effectively learn spatial and temporal information from the past to forecast the future…

Pedestrian trajectory prediction is a critical to avoid autonomous driving collision. But this prediction is a challenging problem due to social forces and cluttered scenes. Such human-human and human-space interactions lead to many…

Recent Vision-and-Language Navigation (VLN) advancements are promising, but their idealized assumptions about robot movement and control fail to reflect physically embodied deployment challenges. To bridge this gap, we introduce VLN-PE, a…

In autonomous driving, accurate motion prediction is crucial for safe and efficient motion planning. To ensure safety, planners require reliable uncertainty estimates of the predicted behavior of surrounding agents, yet this aspect has…

Embodied world models aim to predict and interact with the physical world through visual observations and actions. However, existing models struggle to accurately translate low-level actions (e.g., joint positions) into precise robotic…

Human motion is a continuous physical process in 3D space, governed by complex dynamic and kinematic constraints. Existing methods typically represent the human pose as an abstract graph structure, neglecting the intrinsic physical…

We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…

Recently, there has been an arms race of pose forecasting methods aimed at solving the spatio-temporal task of predicting a sequence of future 3D poses of a person given a sequence of past observed ones. However, the lack of unified…