相关论文: From Motion to Behavior: Hierarchical Modeling of …

The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…

Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This…

Skeleton-based human action recognition has achieved remarkable progress in recent years. However, most existing GCN-based methods rely on short-range motion topologies, which not only struggle to capture long-range joint dependencies and…

Despite the rise of billion-parameter foundation models trained across thousands of GPUs, similar scaling gains have not been shown for humanoid control. Current neural controllers for humanoids remain modest in size, target a limited set…

This paper aims to deal with the ignored real-world complexities in prior work on human motion forecasting, emphasizing the social properties of multi-person motion, the diversity of motion and social interactions, and the complexity of…

Generalist robot policies can now perform a wide range of manipulation skills, but evaluating and improving their ability with unfamiliar objects and instructions remains a significant challenge. Rigorous evaluation requires a large number…

This work introduces MotionLCM, extending controllable motion generation to a real-time level. Existing methods for spatial-temporal control in text-conditioned motion generation suffer from significant runtime inefficiency. To address this…

The rising presence of autonomous vehicles (AVs) on public roads necessitates the development of advanced control strategies that account for the unpredictable nature of human-driven vehicles (HVs). This study introduces a learning-based…

Understanding human motion behavior is critical for autonomous moving platforms (like self-driving cars and social robots) if they are to navigate human-centric environments. This is challenging because human motion is inherently…

This paper introduces MotionGlot, a model that can generate motion across multiple embodiments with different action dimensions, such as quadruped robots and human bodies. By leveraging the well-established training procedures commonly used…

We address the challenge of developing a generalizable neural tracking controller for dexterous manipulation from human references. This controller aims to manage a dexterous robot hand to manipulate diverse objects for various purposes…

By incorporating ergonomics principles into the task allocation processes, human-robot collaboration (HRC) frameworks can favour the prevention of work-related musculoskeletal disorders (WMSDs). In this context, existing offline…

This work addresses the problem of generating 3D holistic body motions from human speech. Given a speech recording, we synthesize sequences of 3D body poses, hand gestures, and facial expressions that are realistic and diverse. To achieve…

The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…

Human motion synthesis is an important problem with applications in graphics, gaming and simulation environments for robotics. Existing methods require accurate motion capture data for training, which is costly to obtain. Instead, we…

The motion of picking up and placing an object in 3D space is full of subtle detail. Typically these motions are formed from the same constraints, optimizing for swiftness, energy efficiency, as well as physiological limits. Yet, even for…

Recent trends in humanoid robot control have successfully employed imitation learning to enable the learned generation of smooth, human-like trajectories from human data. While these approaches make more realistic motions possible, they are…

Logic-Geometric Programming (LGP) is a powerful motion and manipulation planning framework, which represents hierarchical structure using logic rules that describe discrete aspects of problems, e.g., touch, grasp, hit, or push, and solves…

Modeling long-term user behavior trajectories is essential for understanding evolving preferences and enabling proactive recommendations. However, most sequential recommenders focus on next-item prediction, overlooking dependencies across…

Human motion modelling is crucial in many areas such as computer graphics, vision and virtual reality. Acquiring high-quality skeletal motions is difficult due to the need for specialized equipment and laborious manual post-posting, which…