相关论文: PDF-HR: Pose Distance Fields for Humanoid Robots

Humanoid locomotion is a challenging task due to its inherent complexity and high-dimensional dynamics, as well as the need to adapt to diverse and unpredictable environments. In this work, we introduce a novel learning framework for…

3D human motion prediction, predicting future poses from a given sequence, is an issue of great significance and challenge in computer vision and machine intelligence, which can help machines in understanding human behaviors. Due to the…

We present a universal motion representation that encompasses a comprehensive range of motor skills for physics-based humanoid control. Due to the high dimensionality of humanoids and the inherent difficulties in reinforcement learning,…

Exploiting interaction with the environment is a promising and powerful way to enhance stability of humanoid robots and robustness while executing locomotion and manipulation tasks. Recently some works have started to show advances in this…

3D human pose estimation and mesh recovery have attracted widespread research interest in many areas, such as computer vision, autonomous driving, and robotics. Deep learning on 3D human pose estimation and mesh recovery has recently…

To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…

In this paper, we propose a method to determine the 3D relative pose of pairs of communicating robots by using human pose-based key-points as correspondences. We adopt a 'leader-follower' framework, where at first, the leader robot visually…

In recent years, there has been a growing interest in developing effective alignment pipelines to generate unified representations from different modalities for multi-modal fusion and generation. As an important component of Human-Centric…

We consider the problem of estimating human pose and trajectory by an aerial robot with a monocular camera in near real time. We present a preliminary solution whose distinguishing feature is a dynamic classifier selection architecture. In…

Human pose forecasting predicts future poses based on past observations, and has many significant applications in areas such as action recognition, autonomous driving or human-robot interaction. This paper evaluates a wide range of pose…

This paper introduces a novel deep-learning approach for human-to-robot motion retargeting, enabling robots to mimic human poses accurately. Contrary to prior deep-learning-based works, our method does not require paired human-to-robot…

Over the years, the separate fields of motion planning, mapping, and human trajectory prediction have advanced considerably. However, the literature is still sparse in providing practical frameworks that enable mobile manipulators to…

In this paper, we develop a neural network model to predict future human motion from an observed human motion history. We propose a non-autoregressive transformer architecture to leverage its parallel nature for easier training and fast,…

This paper considers to jointly tackle the highly correlated tasks of estimating 3D human body poses and predicting future 3D motions from RGB image sequences. Based on Lie algebra pose representation, a novel self-projection mechanism is…

Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems, such as fall recovery. Existing approaches are either limited to simulations that overlook…

Drones have become a common tool, which is utilized in many tasks such as aerial photography, surveillance, and delivery. However, operating a drone requires more and more interaction with the user. A natural and safe method for Human-Drone…

With the advancements in human-robot interaction (HRI), robots are now capable of operating in close proximity and engaging in physical interactions with humans (pHRI). Likewise, contact-based pHRI is becoming increasingly common as robots…

Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied configurations a humanoid can end up in after a fall and the…

We propose an approach to estimate 3D human pose in real world units from a single RGBD image and show that it exceeds performance of monocular 3D pose estimation approaches from color as well as pose estimation exclusively from depth. Our…

Presenting high-resolution (HR) human appearance is always critical for the human-centric videos. However, current imagery equipment can hardly capture HR details all the time. Existing super-resolution algorithms barely mitigate the…