相关论文: MMCM: Multimodality-aware Metric using Clustering-…

Human pose forecasting is inherently multimodal since multiple futures exist for an observed pose sequence. However, evaluating multimodality is challenging since the task is ill-posed. Therefore, we first propose an alternative paradigm to…

This paper introduces a Multi-modal Diffusion model for Motion Prediction (MDMP) that integrates and synchronizes skeletal data and textual descriptions of actions to generate refined long-term motion predictions with quantifiable…

Human mobility clustering is an important problem for understanding human mobility behaviors (e.g., work and school commutes). Existing methods typically contain two steps: choosing or learning a mobility representation and applying a…

Stochastic Human Motion Prediction (HMP) aims to predict multiple possible future human pose sequences from observed ones. Most prior works learn motion distributions through encoding-decoding in the latent space, which does not preserve…

Accurately tracking and predicting behaviors of surrounding objects are key prerequisites for intelligent systems such as autonomous vehicles to achieve safe and high-quality decision making and motion planning. However, there still remain…

Human motion prediction is important for mobile service robots and intelligent vehicles to operate safely and smoothly around people. The more accurate predictions are, particularly over extended periods of time, the better a system can,…

Pedestrian action prediction is of great significance for many applications such as autonomous driving. However, state-of-the-art methods lack explainability to make trustworthy predictions. In this paper, a novel framework called MulCPred…

Human motion prediction is essential for tasks such as human motion analysis and human-robot interactions. Most existing approaches have been proposed to realize motion prediction. However, they ignore an important task, the evaluation of…

Long-term human motion prediction (LHMP) is important for the safe and efficient operation of autonomous robots and vehicles in environments shared with humans. Accurate predictions are important for applications including motion planning,…

Diverse human motion prediction (HMP) aims to predict multiple plausible future motions given an observed human motion sequence. It is a challenging task due to the diversity of potential human motions while ensuring an accurate description…

Future prediction is a fundamental principle of intelligence that helps plan actions and avoid possible dangers. As the future is uncertain to a large extent, modeling the uncertainty and multimodality of the future states is of great…

Predicting human behavior is a difficult and crucial task required for motion planning. It is challenging in large part due to the highly uncertain and multi-modal set of possible outcomes in real-world domains such as autonomous driving.…

Predicting multiple plausible future trajectories of the nearby vehicles is crucial for the safety of autonomous driving. Recent motion prediction approaches attempt to achieve such multimodal motion prediction by implicitly regularizing…

Predictive planning is a key capability for robots to efficiently and safely navigate populated environments. Particularly in densely crowded scenes, with uncertain human motion predictions, predictive path planning, and control can become…

This paper tackles the problem of human motion prediction, consisting in forecasting future body poses from historically observed sequences. State-of-the-art approaches provide good results, however, they rely on deep learning architectures…

This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online. Instead of a point-mass model, this work uses the augmented single rigid body model (aSRBM)…

Predicting human mobility is crucial for urban planning, traffic control, and emergency response. Mobility behaviors can be categorized into individual and collective, and these behaviors are recorded by diverse mobility data, such as…

Ensuring safe navigation in human-populated environments is crucial for autonomous mobile robots. Although recent advances in machine learning offer promising methods to predict human trajectories in crowded areas, it remains unclear how…

This paper presents a method for future motion prediction of multi-agent systems by including group formation information and future intent. Formation of groups depends on a physics-based clustering method that follows the agglomerative…

Model predictive control (MPC) is a promising technique for motion cueing in driving simulators, but its high computation time limits widespread real-time application. This paper proposes a hybrid algorithm that combines filter-based and…