相关论文: Learning Predictive Visuomotor Coordination

Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…

This study presents a dynamic neural network model based on the predictive coding framework for perceiving and predicting the dynamic visuo-proprioceptive patterns. In our previous study [1], we have shown that the deep dynamic neural…

In this paper, we address the problem of forecasting the trajectory of an egocentric camera wearer (ego-person) in crowded spaces. The trajectory forecasting ability learned from the data of different camera wearers walking around in the…

Immersive virtual reality (VR) applications demand accurate, temporally coherent full-body pose tracking. Recent head-mounted camera-based approaches show promise in egocentric pose estimation, but encounter challenges when applied to VR…

In egocentric scenarios, anticipating both the next action and its visual outcome is essential for understanding human-object interactions and for enabling robotic planning. However, existing paradigms fall short of jointly modeling these…

We aim to build complex humanoid agents that integrate perception, motor control, and memory. In this work, we partly factor this problem into low-level motor control from proprioception and high-level coordination of the low-level skills…

Visuomotor control (VMC) is an effective means of achieving basic manipulation tasks such as pushing or pick-and-place from raw images. Conditioning VMC on desired goal states is a promising way of achieving versatile skill primitives.…

During visuomotor tasks, robots must compensate for temporal delays inherent in their sensorimotor processing systems. Delay compensation becomes crucial in a dynamic environment where the visual input is constantly changing, e.g., during…

The ability to model the underlying dynamics of visual scenes and reason about the future is central to human intelligence. Many attempts have been made to empower intelligent systems with such physical understanding and prediction…

Dashboard cameras capture a tremendous amount of driving scene video each day. These videos are purposefully coupled with vehicle sensing data, such as from the speedometer and inertial sensors, providing an additional sensing modality for…

Humans possess the innate ability to extract latent visuo-lingual cues to infer context through human interaction. During collaboration, this enables proactive prediction of the underlying intention of a series of tasks. In contrast,…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

Anticipating human actions is an important task that needs to be addressed for the development of reliable intelligent agents, such as self-driving cars or robot assistants. While the ability to make future predictions with high accuracy is…

Predictive foresight is important to intelligent embodied agents. Since the motor execution of a robot is intrinsically constrained by its visual perception of environmental geometry, effectively anticipating the future requires capturing…

Smooth and seamless robot navigation while interacting with humans depends on predicting human movements. Forecasting such human dynamics often involves modeling human trajectories (global motion) or detailed body joint movements (local…

Fluent and safe interactions of humans and robots require both partners to anticipate the others' actions. A common approach to human intention inference is to model specific trajectories towards known goals with supervised classifiers.…

Perceptive locomotion for legged robots requires anticipating and adapting to complex, dynamic environments. Model Predictive Control (MPC) serves as a strong baseline, providing interpretable motion planning with constraint enforcement,…

We consider the problem of Vision-and-Language Navigation (VLN). The majority of current methods for VLN are trained end-to-end using either unstructured memory such as LSTM, or using cross-modal attention over the egocentric observations…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

Egocentric human motion generation and forecasting with scene-context is crucial for enhancing AR/VR experiences, improving human-robot interaction, advancing assistive technologies, and enabling adaptive healthcare solutions by accurately…