相关论文: MIND: Multi-Scale Intent Diffusion for Text-Driven…
Intelligent behaviour in the physical world exhibits structure at multiple spatial and temporal scales. Although movements are ultimately executed at the level of instantaneous muscle tensions or joint torques, they must be selected to…
Legibility of robot motion is critical in human-robot interaction, as it allows humans to quickly infer a robot's intended goal. Although traditional trajectory generation methods typically prioritize efficiency, they often fail to make the…
Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…
In recent years, diffusion models have made remarkable strides in text-to-video generation, sparking a quest for enhanced control over video outputs to more accurately reflect user intentions. Traditional efforts predominantly focus on…
While end-to-end autonomous driving has achieved remarkable progress in geometric control, current systems remain constrained by a command-following paradigm that relies on simple navigational instructions. Transitioning to genuinely…
Navigating dense and dynamic environments poses a significant challenge for autonomous driving systems, owing to the intricate nature of multimodal interaction, wherein the actions of various traffic participants and the autonomous vehicle…
There has been substantial progress in humanoid robots, with new skills continuously being taught, ranging from navigation to manipulation. While these abilities may seem impressive, the teaching methods often remain inefficient. To enhance…
Effective human-AI coordination requires artificial agents capable of exhibiting and responding to human-like behaviors while adapting to changing contexts. Imitation learning has emerged as one of the prominent approaches to build such…
Text-driven human motion generation in computer vision is both significant and challenging. However, current methods are limited to producing either deterministic or imprecise motion sequences, failing to effectively control the temporal…
We present Latent Theory of Mind (LatentToM), a decentralized diffusion policy architecture for collaborative robot manipulation. Our policy allows multiple manipulators with their own perception and computation to collaborate with each…
Human motion modeling is important for many modern graphics applications, which typically require professional skills. In order to remove the skill barriers for laymen, recent motion generation methods can directly generate human motions…
Text-guided human motion generation has drawn significant interest because of its impactful applications spanning animation and robotics. Recently, application of diffusion models for motion generation has enabled improvements in the…
In this paper, we address the new problem of the prediction of human intents. There is neuro-psychological evidence that actions performed by humans are anticipated by peculiar motor acts which are discriminant of the type of action going…
Text-to-image diffusion models have made significant progress in generating naturalistic images from textual inputs, and demonstrate the capacity to learn and represent complex visual-semantic relationships. While these diffusion models…
While Large Language Models (LLMs) have emerged with remarkable capabilities in complex tasks through Chain-of-Thought reasoning, practical resource constraints have sparked interest in transferring these abilities to smaller models.…
Text-conditioned human motion generation, which allows for user interaction through natural language, has become increasingly popular. Existing methods typically generate short, isolated motions based on a single input sentence. However,…
While data-driven imitation learning has revolutionized robotic manipulation, current approaches remain constrained by the scarcity of large-scale, diverse real-world demonstrations. Consequently, the ability of existing models to…
Users often possess a clear visual intent but struggle to articulate it precisely in language. This intention-expression gap makes aligning generated images with latent visual preferences a fundamental challenge in text-to-image diffusion…
When humans speak, gestures help convey communicative intentions, such as adding emphasis or describing concepts. However, current co-speech gesture generation methods rely solely on superficial linguistic cues (e.g. speech audio or text…
We present REWIND (Real-Time Egocentric Whole-Body Motion Diffusion), a one-step diffusion model for real-time, high-fidelity human motion estimation from egocentric image inputs. While an existing method for egocentric whole-body (i.e.,…