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

Video-based human movement analysis holds potential for movement assessment in clinical practice and research. However, the clinical implementation and trust of multi-view markerless motion capture (MMMC) require that, in addition to being…

Linear Model Predictive Control (MPC) has been successfully used for generating feasible walking motions for humanoid robots. However, the effect of uncertainties on constraints satisfaction has only been studied using Robust MPC (RMPC)…

Model Predictive Control (MPC) has proven to be a powerful tool for the control of systems with constraints. Nonetheless, in many applications, a major challenge arises, that is finding the optimal solution within a single sampling instant…

In literature, scientists describe human mobility in a range of granularities by several different models. Using frameworks like MATSIM, VehiLux, or Sumo, they often derive individual human movement indicators in their most detail. However,…

While decoupled control schemes for legged mobile manipulators have shown robustness, learning holistic whole-body control policies for tracking global end-effector poses remains fragile against Out-of-Distribution (OOD) inputs induced by…

In this paper, we tackle the problem of scene-aware 3D human motion forecasting. A key challenge of this task is to predict future human motions that are consistent with the scene by modeling the human-scene interactions. While recent works…

Hybrid Monte Carlo (HMC) generates samples from a prescribed probability distribution in a configuration space by simulating Hamiltonian dynamics, followed by the Metropolis (-Hastings) acceptance/rejection step. Compressible HMC (CHMC)…

In medical tasks such as human motion analysis, computer-aided auxiliary systems have become preferred choice for human experts for its high efficiency. However, conventional approaches are typically based on user-defined features such as…

Robot navigation around humans can be a challenging problem since human movements are hard to predict. Stochastic model predictive control (MPC) can account for such uncertainties and approximately bound the probability of a collision to…

To predict the future movements of stock markets, numerous studies concentrate on daily data and employ various machine learning (ML) models as benchmarks that often vary and lack standardization across different research works. This paper…

Recent progress in stochastic motion prediction, i.e., predicting multiple possible future human motions given a single past pose sequence, has led to producing truly diverse future motions and even providing control over the motion of some…

As multipath components (MPCs) are experimentally observed to appear in clusters, cluster-based channel models have been focused in the wireless channel study. However, most of the MPC clustering algorithms for MIMO channels with delay and…

Vision-based trajectory prediction is an important task that supports safe and intelligent behaviours in autonomous systems. Many advanced approaches have been proposed over the years with improved spatial and temporal feature extraction.…

Substantial efforts have been devoted to the investigation of spatiotemporal correlations for improving traffic speed prediction accuracy. However, existing works typically model the correlations based solely on the observed traffic state…

Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human robot collaboration, but also enhance human safety in close proximity to robots. Among…

Multiple clustering aims at exploring alternative clusterings to organize the data into meaningful groups from different perspectives. Existing multiple clustering algorithms are designed for single-view data. We assume that the…

Handling multimodality that commonly arises from complicated statistical models remains a challenge. Current Markov chain Monte Carlo (MCMC) methodology tackling this subject is based on an ensemble of chains targeting a product of…

We consider the uncertain multi-robot motion planning (MRMP) problem with cooperative localization (CL-MRMP), under both motion and measurement noise, where each robot can act as a sensor for its nearby teammates. We formalize CL-MRMP as a…

Bivariate causal direction identification is a fundamental and vital problem in the causal inference field. Among binary causal methods, most methods based on additive noise only use one single causal mechanism to construct a causal model.…

Clustering is a useful data exploratory method with its wide applicability in multiple fields. However, data clustering greatly relies on initialization of cluster centers that can result in large intra-cluster variance and dead centers,…