We propose the task of forecasting characteristic 3d poses: from a short sequence observation of a person, predict a future 3d pose of that person in a likely action-defining, characteristic pose -- for instance, from observing a person picking up an apple, predict the pose of the person eating the apple. Prior work on human motion prediction estimates future poses at fixed time intervals. Although easy to define, this frame-by-frame formulation confounds temporal and intentional aspects of human action. Instead, we define a semantically meaningful pose prediction task that decouples the predicted pose from time, taking inspiration from goal-directed behavior. To predict characteristic poses, we propose a probabilistic approach that models the possible multi-modality in the distribution of likely characteristic poses. We then sample future pose hypotheses from the predicted distribution in an autoregressive fashion to model dependencies between joints. To evaluate our method, we construct a dataset of manually annotated characteristic 3d poses. Our experiments with this dataset suggest that our proposed probabilistic approach outperforms state-of-the-art methods by 26% on average.
Sapienza University of Rome（罗马第一大学）；University of Verona（维罗纳大学）
Pushing back the frontiers of collaborative robots in industrial environments, we propose a new Separable-Sparse Graph Convolutional Network (SeS-GCN) for pose forecasting. For the first time, SeS-GCN bottlenecks the interaction of the spatial, temporal and channel-wise dimensions in GCNs, and it learns sparse adjacency matrices by a teacher-student framework. Compared to the state-of-the-art, it only uses 1.72% of the parameters and it is ~4 times faster, while still performing comparably in forecasting accuracy on Human3.6M at 1 second in the future, which enables cobots to be aware of human…
In this work we study the use of 3D hand poses to recognize first-person dynamic hand actions interacting with 3D objects. Towards this goal, we collected RGB-D video sequences comprised of more than 100K frames of 45 daily hand action categories, involving 26 different objects in several hand configurations. To obtain hand pose annotations, we used our own mo-cap system that automatically infers the 3D location of each of the 21 joints of a hand model via 6 magnetic sensors and inverse kinematics. Additionally, we recorded the 6D object poses and provide 3D object models for a subset of hand-…
We present convolutional neural networks for the tasks of keypoint (pose) prediction and action classification of people in unconstrained images. Our approach involves training an R-CNN detector with loss functions depending on the task being tackled. We evaluate our method on the challenging PASCAL VOC dataset and compare it to previous leading approaches. Our method gives state-of-the-art results for keypoint and action prediction. Additionally, we introduce a new dataset for action detection, the task of simultaneously localizing people and classifying their actions, and present results usi…
University of Illinois at Urbana Champaign（伊利诺伊大学厄巴纳-香槟分校）；Amazon.com Inc（亚马逊公司）
With the increasing demands on e-commerce platforms, numerous user action history is emerging. Those enriched action records are vital to understand users' interests and intents. Recently, prior works for user behavior prediction mainly focus on the interactions with product-side information. However, the interactions with search queries, which usually act as a bridge between users and products, are still under investigated. In this paper, we explore a new problem named temporal event forecasting, a generalized user behavior prediction task in a unified query product evolutionary graph, to emb…
The Australian National University（澳大利亚国立大学）；Australian Centre for Robotic Vision（澳大利亚机器人视觉中心）
Human pose forecasting is an important problem in computer vision with applications to human-robot interaction, visual surveillance, and autonomous driving. Usually, forecasting algorithms use 3D skeleton sequences and are trained to forecast for a few milliseconds into the future. Long-range forecasting is challenging due to the difficulty of estimating how long a person continues an activity. To this end, our contributions are threefold: (i) we propose a generative framework for poses using variational autoencoders based on Deep Markov Models (DMMs); (ii) we evaluate our pose forecasts using…
UC Berkeley（加州大学伯克利分校）；MIT（麻省理工学院）；UIUC（伊利诺伊大学厄巴纳-香槟分校）；University of Oxford（牛津大学）
Forecasting future world events is a challenging but valuable task. Forecasts of climate, geopolitical conflict, pandemics and economic indicators help shape policy and decision making. In these domains, the judgment of expert humans contributes to the best forecasts. Given advances in language modeling, can these forecasts be automated? To this end, we introduce Autocast, a dataset containing thousands of forecasting questions and an accompanying news corpus. Questions are taken from forecasting tournaments, ensuring high quality, real-world importance, and diversity. The news corpus is organ…
School of Computer Science and Artificial Intelligence（计算机科学与人工智能学院）；ETH Zürich（苏黎世联邦理工学院）；School of Remote Sensing and Information Engineering（遥感与信息工程学院）
UC Berkeley（加州大学伯克利分校）；Technical University of Munich（慕尼黑工业大学）
Human trajectory forecasting is an inherently multi-modal problem. Uncertainty in future trajectories stems from two sources: (a) sources that are known to the agent but unknown to the model, such as long term goals and (b)sources that are unknown to both the agent & the model, such as intent of other agents & irreducible randomness indecisions. We propose to factorize this uncertainty into its epistemic & aleatoric sources. We model the epistemic un-certainty through multimodality in long term goals and the aleatoric uncertainty through multimodality in waypoints& paths. To exemplify this dic…
Mercedes-Benz AG（梅赛德斯-奔驰股份公司）；Ulm University（乌尔姆大学）；Otto von Guericke University Magdeburg（马格德堡奥托·冯·格里克大学）
In this work, we present MotionMixer, an efficient 3D human body pose forecasting model based solely on multi-layer perceptrons (MLPs). MotionMixer learns the spatial-temporal 3D body pose dependencies by sequentially mixing both modalities. Given a stacked sequence of 3D body poses, a spatial-MLP extracts fine grained spatial dependencies of the body joints. The interaction of the body joints over time is then modelled by a temporal MLP. The spatial-temporal mixed features are finally aggregated and decoded to obtain the future motion. To calibrate the influence of each time step in the pose …
Carnegie Mellon University（卡内基梅隆大学）；University of California, Berkeley（加州大学伯克利分校）
Many autonomous systems forecast aspects of the future in order to aid decision-making. For example, self-driving vehicles and robotic manipulation systems often forecast future object poses by first detecting and tracking objects. However, this detect-then-forecast pipeline is expensive to scale, as pose forecasting algorithms typically require labeled sequences of object poses, which are costly to obtain in 3D space. Can we scale performance without requiring additional labels? We hypothesize yes, and propose inverting the detect-then-forecast pipeline. Instead of detecting, tracking and the…
Current approaches in video forecasting attempt to generate videos directly in pixel space using Generative Adversarial Networks (GANs) or Variational Autoencoders (VAEs). However, since these approaches try to model all the structure and scene dynamics at once, in unconstrained settings they often generate uninterpretable results. Our insight is to model the forecasting problem at a higher level of abstraction. Specifically, we exploit human pose detectors as a free source of supervision and break the video forecasting problem into two discrete steps. First we explicitly model the high level …
University of Michigan（密歇根大学）；Adobe Research（Adobe研究院）
This paper presents the first study on forecasting human dynamics from static images. The problem is to input a single RGB image and generate a sequence of upcoming human body poses in 3D. To address the problem, we propose the 3D Pose Forecasting Network (3D-PFNet). Our 3D-PFNet integrates recent advances on single-image human pose estimation and sequence prediction, and converts the 2D predictions into 3D space. We train our 3D-PFNet using a three-step training strategy to leverage a diverse source of training data, including image and video based human pose datasets and 3D motion capture (M…
We address dense action forecasting: the problem of predicting future action sequence over long durations based on partial observation. Our key insight is that future action sequences are more accurately modeled with variable, rather than one, levels of abstraction, and that the optimal level of abstraction can be dynamically selected during the prediction process. Our experiments show that most parts of future action sequences can be predicted confidently in fine detail only in small segments of future frames, which are effectively ``islands'' of high model prediction confidence in a ``sea'' …
Predicting and forecasting human dynamics is a very interesting but challenging task with several prospective applications in robotics, health-care, etc. Recently, several methods have been developed for human pose forecasting; however, they often introduce a number of limitations in their settings. For instance, previous work either focused only on short-term or long-term predictions, while sacrificing one or the other. Furthermore, they included the activity labels as part of the training process, and require them at testing time. These limitations confine the usage of pose forecasting model…
Action anticipation and forecasting in videos do not require a hat-trick, as far as there are signs in the context to foresee how actions are going to be deployed. Capturing these signs is hard because the context includes the past. We propose an end-to-end network for action anticipation and forecasting with memory, to both anticipate the current action and foresee the next one. Experiments on action sequence datasets show excellent results indicating that training on histories with a dynamic memory can significantly improve forecasting performance.
Institute of High Performance Computing, A*STAR（新加坡科技研究局高性能计算研究所）
Future human action forecasting from partial observations of activities is an important problem in many practical applications such as assistive robotics, video surveillance and security. We present a method to forecast actions for the unseen future of the video using a neural machine translation technique that uses encoder-decoder architecture. The input to this model is the observed RGB video, and the objective is to forecast the correct future symbolic action sequence. Unlike prior methods that make action predictions for some unseen percentage of video one for each frame, we predict the co…
Human pose forecasting is a challenging problem involving complex human body motion and posture dynamics. In cases that there are multiple people in the environment, one's motion may also be influenced by the motion and dynamic movements of others. Although there are several previous works targeting the problem of multi-person dynamic pose forecasting, they often model the entire pose sequence as time series (ignoring the underlying relationship between joints) or only output the future pose sequence of one person at a time. In this paper, we present a new method, called Social Motion Transfor…
Multi-person pose forecasting remains a challenging problem, especially in modeling fine-grained human body interaction in complex crowd scenarios. Existing methods typically represent the whole pose sequence as a temporal series, yet overlook interactive influences among people based on skeletal body parts. In this paper, we propose a novel Trajectory-Aware Body Interaction Transformer (TBIFormer) for multi-person pose forecasting via effectively modeling body part interactions. Specifically, we construct a Temporal Body Partition Module that transforms all the pose sequences into a Multi-Per…
University of Verona (UNIVR)（维罗纳大学）；OSRAM GmbH（欧司朗股份有限公司）；Istituto Italiano di Tecnologia (IIT)（意大利理工学院）
Recent approaches on trajectory forecasting use tracklets to predict the future positions of pedestrians exploiting Long Short Term Memory (LSTM) architectures. This paper shows that adding vislets, that is, short sequences of head pose estimations, allows to increase significantly the trajectory forecasting performance. We then propose to use vislets in a novel framework called MX-LSTM, capturing the interplay between tracklets and vislets thanks to a joint unconstrained optimization of full covariance matrices during the LSTM backpropagation. At the same time, MX-LSTM predicts the future hea…
We present a new architecture for human action forecasting from videos. A temporal recurrent encoder captures temporal information of input videos while a self-attention model is used to attend on relevant feature dimensions of the input space. To handle temporal variations in observed video data, a feature masking techniques is employed. We classify observed actions accurately using an auxiliary classifier which helps to understand what has happened so far. Then the decoder generates actions for the future based on the output of the recurrent encoder and the self-attention model. Experimental…
We propose the use of a proportional-derivative (PD) control based policy learned via reinforcement learning (RL) to estimate and forecast 3D human pose from egocentric videos. The method learns directly from unsegmented egocentric videos and motion capture data consisting of various complex human motions (e.g., crouching, hopping, bending, and motion transitions). We propose a video-conditioned recurrent control technique to forecast physically-valid and stable future motions of arbitrary length. We also introduce a value function based fail-safe mechanism which enables our method to run as a…
Ferdowsi University of Mashhad（马什哈德菲尔多西大学）；University of Adelaide（阿德莱德大学）；Stanford University（斯坦福大学）；Monash University（莫纳什大学）
Joint forecasting of human trajectory and pose dynamics is a fundamental building block of various applications ranging from robotics and autonomous driving to surveillance systems. Predicting body dynamics requires capturing subtle information embedded in the humans' interactions with each other and with the objects present in the scene. In this paper, we propose a novel TRajectory and POse Dynamics (nicknamed TRiPOD) method based on graph attentional networks to model the human-human and human-object interactions both in the input space and the output space (decoded future output). The model…
Inception Institute of Artificial Intelligence（起源人工智能研究院）；University of Verona（维罗纳大学）；Osram GmbH（欧司朗有限公司）；Italian Institute of Technology（意大利理工学院）；Ulm University（乌尔姆大学）
In this work, we explore the correlation between people trajectories and their head orientations. We argue that people trajectory and head pose forecasting can be modelled as a joint problem. Recent approaches on trajectory forecasting leverage short-term trajectories (aka tracklets) of pedestrians to predict their future paths. In addition, sociological cues, such as expected destination or pedestrian interaction, are often combined with tracklets. In this paper, we propose MiXing-LSTM (MX-LSTM) to capture the interplay between positions and head orientations (vislets) thanks to a joint uncon…
Ferdowsi University of Mashhad（马什哈德菲尔多西大学）；Stanford University（斯坦福大学）；University of Adelaide（阿德莱德大学）
Smooth and seamless robot navigation while interacting with humans depends on predicting human movements. Forecasting such human dynamics often involves modeling human trajectories (global motion) or detailed body joint movements (local motion). Prior work typically tackled local and global human movements separately. In this paper, we propose a novel framework to tackle both tasks of human motion (or trajectory) and body skeleton pose forecasting in a unified end-to-end pipeline. To deal with this real-world problem, we consider incorporating both scene and social contexts, as critical clues …
QueryMamba: A Mamba-Based Encoder-Decoder Architecture with a Statistical Verb-Noun Interaction Module for Video Action Forecasting @ Ego4D Long-Term Action Anticipation Challenge 2024
Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）；Fraunhofer IOSB（弗劳恩霍夫IOSB研究所）
Stanford University（斯坦福大学）；University of California, Berkeley（加州大学伯克利分校）；Toyota Research Institute（丰田研究院）
We tackle the problem of Human Locomotion Forecasting, a task for jointly predicting the spatial positions of several keypoints on the human body in the near future under an egocentric setting. In contrast to the previous work that aims to solve either the task of pose prediction or trajectory forecasting in isolation, we propose a framework to unify the two problems and address the practically useful task of pedestrian locomotion prediction in the wild. Among the major challenges in solving this task is the scarcity of annotated egocentric video datasets with dense annotations for pose, depth…
Google Research（谷歌研究院）；University of Maryland（马里兰大学）
This paper focuses on multi-person action forecasting in videos. More precisely, given a history of H previous frames, the goal is to detect actors and to predict their future actions for the next T frames. Our approach jointly models temporal and spatial interactions among different actors by constructing a recurrent graph, using actor proposals obtained with Faster R-CNN as nodes. Our method learns to select a subset of discriminative relations without requiring explicit supervision, thus enabling us to tackle challenging visual data. We refer to our model as Discriminative Relational Recurr…
Anticipating human motion depends on two factors: the past motion and the person's intention. While the first factor has been extensively utilized to forecast short sequences of human motion, the second one remains elusive. In this work we approximate a person's intention via a symbolic representation, for example fine-grained action labels such as walking or sitting down. Forecasting a symbolic representation is much easier than forecasting the full body pose with its complex inter-dependencies. However, knowing the future actions makes forecasting human motion easier. We exploit this connect…
We propose a novel neural memory network based framework for future action sequence forecasting. This is a challenging task where we have to consider short-term, within sequence relationships as well as relationships in between sequences, to understand how sequences of actions evolve over time. To capture these relationships effectively, we introduce neural memory networks to our modelling scheme. We show the significance of using two input streams, the observed frames and the corresponding action labels, which provide different information cues for our prediction task. Furthermore, through th…
Australian National University（澳大利亚国立大学）；EPFL（洛桑联邦理工学院）；ClearSpace
In this paper, we tackle the task of scene-aware 3D human motion forecasting, which consists of predicting future human poses given a 3D scene and a past human motion. A key challenge of this task is to ensure consistency between the human and the scene, accounting for human-scene interactions. Previous attempts to do so model such interactions only implicitly, and thus tend to produce artifacts such as "ghost motion" because of the lack of explicit constraints between the local poses and the global motion. Here, by contrast, we propose to explicitly model the human-scene contacts. To this end…
Generating animations from natural language sentences finds its applications in a a number of domains such as movie script visualization, virtual human animation and, robot motion planning. These sentences can describe different kinds of actions, speeds and direction of these actions, and possibly a target destination. The core modeling challenge in this language-to-pose application is how to map linguistic concepts to motion animations. In this paper, we address this multimodal problem by introducing a neural architecture called Joint Language to Pose (or JL2P), which learns a joint embedding…
Human pose forecasting is a complex structured-data sequence-modelling task, which has received increasing attention, also due to numerous potential applications. Research has mainly addressed the temporal dimension as time series and the interaction of human body joints with a kinematic tree or by a graph. This has decoupled the two aspects and leveraged progress from the relevant fields, but it has also limited the understanding of the complex structural joint spatio-temporal dynamics of the human pose. Here we propose a novel Space-Time-Separable Graph Convolutional Network (STS-GCN) for po…
Australian Centre for Robotic Vision, The Australian National University（澳大利亚国立大学澳大利亚机器人视觉中心）
For effective human-robot interaction, it is important that a robotic assistant can forecast the next action a human will consider in a given task. Unfortunately, real-world tasks are often very long, complex, and repetitive; as a result forecasting is not trivial. In this paper, we propose a novel deep recurrent architecture that takes as input features from a two-stream Residual action recognition framework, and learns to estimate the progress of human activities from video sequences -- this surrogate progress estimation task implicitly learns a temporal task grammar with respect to which ac…
HOIMotion: Forecasting Human Motion During Human-Object Interactions Using Egocentric 3D Object Bounding Boxes
University of Stuttgart（斯图加特大学）；Heidelberg University（海德堡大学）；University of Tuebingen（蒂宾根大学）；Center for Bionic Intelligence Tuebingen Stuttgart (BITS)（蒂宾根-斯图加特仿生智能中心（BITS））
Non verbal behaviours such as gestures, facial expressions, body posture, and para-linguistic cues have been shown to complement or clarify verbal messages. Hence to improve telepresence, in form of an avatar, it is important to model these behaviours, especially in dyadic interactions. Creating such personalized avatars not only requires to model intrapersonal dynamics between a avatar's speech and their body pose, but it also needs to model interpersonal dynamics with the interlocutor present in the conversation. In this paper, we introduce a neural architecture named Dyadic Residual-Attenti…
Georgia Institute of Technology（佐治亚理工学院）；ETH Zürich（苏黎世联邦理工学院）；University of Wisconsin-Madison（威斯康星大学麦迪逊分校）
We address the challenging task of anticipating human-object interaction in first person videos. Most existing methods ignore how the camera wearer interacts with the objects, or simply consider body motion as a separate modality. In contrast, we observe that the international hand movement reveals critical information about the future activity. Motivated by this, we adopt intentional hand movement as a future representation and propose a novel deep network that jointly models and predicts the egocentric hand motion, interaction hotspots and future action. Specifically, we consider the future …
We address the problem of action-conditioned generation of human motion sequences. Existing work falls into two categories: forecast models conditioned on observed past motions, or generative models conditioned on action labels and duration only. In contrast, we generate motion conditioned on observations of arbitrary length, including none. To solve this generalized problem, we propose PoseGPT, an auto-regressive transformer-based approach which internally compresses human motion into quantized latent sequences. An auto-encoder first maps human motion to latent index sequences in a discrete s…
