相关论文: Spherical Latent Motion Prior for Physics-Based Si…

Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…

We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots. The proposed approach uses a constrained optimal control algorithm known as SLQ. We improve the efficiency of this algorithm…

Leveraging pre-trained 2D image representations in behavior cloning policies has achieved great success and has become a standard approach for robotic manipulation. However, such representations fail to capture the 3D spatial information…

Humanoid robots have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge of controlling their underlying high-dimensional nonlinear…

Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…

We introduce the task of action-driven stochastic human motion prediction, which aims to predict multiple plausible future motions given a sequence of action labels and a short motion history. This differs from existing works, which predict…

This work presents an optimization-based task and motion planning (TAMP) framework that unifies planning for locomotion and manipulation through a shared representation of contact modes. We define symbolic actions as contact mode changes,…

We present a new learning approach, Soft Conditional Prompt Learning (SCP), which leverages the strengths of prompt learning for aerial video action recognition. Our approach is designed to predict the action of each agent by helping the…

Humanoid robots exhibit significant potential in executing diverse human-level skills. However, current research predominantly relies on data-driven approaches that necessitate extensive training datasets to achieve robust multimodal…

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…

In this work, we present Conditional Adversarial Latent Models (CALM), an approach for generating diverse and directable behaviors for user-controlled interactive virtual characters. Using imitation learning, CALM learns a representation of…

Spring-mass models are well established tools for the analysis and control of legged locomotion. Among the alternatives, spring-loaded inverted pendulum (SLIP) model has shown to be a very accurate descriptor of animal locomotion. Despite…

Accurate prediction of physical interaction outcomes is a crucial component of human intelligence and is important for safe and efficient deployments of robots in the real world. While there are existing vision-based intuitive physics…

Spatial-temporal reasoning is a challenging task in Artificial Intelligence (AI) due to its demanding but unique nature: a theoretic requirement on representing and reasoning based on spatial-temporal knowledge in mind, and an applied…

A Probabilistic Movement Primitive (ProMP) defines a distribution over trajectories with an associated feedback policy. ProMPs are typically initialized from human demonstrations and achieve task generalization through probabilistic…

We present MaskAdapt, a framework for flexible motion adaptation in physics-based humanoid control. The framework follows a two-stage residual learning paradigm. In the first stage, we train a mask-invariant base policy using stochastic…

As an essential task in autonomous driving (AD), motion prediction aims to predict the future states of surround objects for navigation. One natural solution is to estimate the position of other agents in a step-by-step manner where each…

Compared with artificial neural networks (ANNs), spiking neural networks (SNNs) are promising to explore the brain-like behaviors since the spikes could encode more spatio-temporal information. Although pre-training from ANN or direct…

Learning from Demonstration (LfD) is a widely used technique for skill acquisition in robotics. However, demonstrations of the same skill may exhibit significant variances, or learning systems may attempt to acquire different means of the…

Compensation for parameter dispersion is a significant challenge for control of inhomogeneous quantum ensembles. In this paper, we present a systematic methodology of sampling-based learning control (SLC) for simultaneously steering the…