相关论文: Long-Term Human Motion Prediction Using Spatio-Tem…

The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…

We present Reusable Motion prior (ReMP), an effective motion prior that can accurately track the temporal evolution of motion in various downstream tasks. Inspired by the success of foundation models, we argue that a robust spatio-temporal…

In recent years, with the continuous advancement of deep learning and the emergence of large-scale human motion datasets, human motion prediction technology has gradually gained prominence in various fields such as human-computer…

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…

Understanding and anticipating human activity is an important capability for intelligent systems in mobile robotics, autonomous driving, and video surveillance. While learning from demonstrations with on-site collected trajectory data is a…

In a typical path planning pipeline for a ground robot, we build a map (e.g., an occupancy grid) of the environment as the robot moves around. While navigating indoors, a ground robot's knowledge about the environment may be limited due to…

Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…

The 3D human pose is vital for modern computer vision and computer graphics, and its prediction has drawn attention in recent years. 3D human pose prediction aims at forecasting a human's future motion from the previous sequence. Ignoring…

The navigation of robots in dynamic urban environments, requires elaborated anticipative strategies for the robot to avoid collisions with dynamic objects, like bicycles or pedestrians, and to be human aware. We have developed and analyzed…

Accurate human motion prediction is crucial for safe human-robot collaboration but remains challenging due to the complexity of modeling intricate and variable human movements. This paper presents Parallel Multi-scale Incremental Prediction…

Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact…

In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known target pose is encoded using DMPs (Dynamic Movement Primitives).…

Incorporating temporal information effectively is important for accurate 3D human motion estimation and generation which have wide applications from human-computer interaction to AR/VR. In this paper, we present MoManifold, a novel human…

Stochastic video prediction enables the consideration of uncertainty in future motion, thereby providing a better reflection of the dynamic nature of the environment. Stochastic video prediction methods based on image auto-regressive…

Predicting individual mobility patterns is crucial across various applications. While current methods mainly focus on predicting the next location for personalized services like recommendations, they often fall short in supporting broader…

Hidden Markov models (HMMs) and partially observable Markov decision processes (POMDPs) form a useful tool for modeling dynamical systems. They are particularly useful for representing environments such as road networks and office…

Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…

Complex scenes present significant challenges for predicting human behaviour due to the abundance of interaction information, such as human-human and humanenvironment interactions. These factors complicate the analysis and understanding of…

Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…

Motion Prediction (MP) of multiple surroundings agents is a crucial task in arbitrarily complex environments, from simple robots to Autonomous Driving Stacks (ADS). Current techniques tackle this problem using end-to-end pipelines, where…