We present RGB-D-Fusion, a multi-modal conditional denoising diffusion probabilistic model to generate high resolution depth maps from low-resolution monocular RGB images of humanoid subjects. RGB-D-Fusion first generates a low-resolution depth map using an image conditioned denoising diffusion probabilistic model and then upsamples the depth map using a second denoising diffusion probabilistic model conditioned on a low-resolution RGB-D image. We further introduce a novel augmentation technique, depth noise augmentation, to increase the robustness of our super-resolution model.
Before the Body Moves: Learning Anticipatory Joint Intent for Language-Conditioned Humanoid Control
The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；LimX Dynamics Technology Co., Ltd.（LimX动态技术有限公司）；Shandong University（山东大学）；Data61/CSIRO；Griffith University（格里菲斯大学）；Institute of Deep Perception Technology, Jiangsu Industrial Technology Research Institute (JITRI)（深度感知技术研究院，江苏省工业技术研究院（JITRI））
Kyoto University（京都大学）；RIKEN Center for Advanced Intelligence Project（理化学研究所先进智能项目中心）；University of Savoie Mont Blanc（萨瓦大学-勃朗峰）
Producing realistic character animations is one of the essential tasks in human-AI interactions. Considered as a sequence of poses of a humanoid, the task can be considered as a sequence generation problem with spatiotemporal smoothness and realism constraints. Additionally, we wish to control the behavior of AI agents by giving them what to do and, more specifically, how to do it. We proposed a spatiotemporally-conditioned GAN that generates a sequence that is similar to a given sequence in terms of semantics and spatiotemporal dynamics. Using LSTM-based generator and graph ConvNet discrimina…
Robotic arm grasping is a fundamental operation in robotic control task goals. Most current methods for robotic grasping focus on RGB-D policy in the table surface scenario or 3D point cloud analysis and inference in the 3D space. Comparing to these methods, we propose a novel real-time multimodal hierarchical encoder-decoder neural network that fuses RGB and depth data to realize robotic humanoid grasping in 3D space with only partial observation. The quantification of raw depth data's uncertainty and depth estimation fusing RGB is considered. We develop a general labeling method to label gro…
The quality of life of many people could be improved by autonomous humanoid robots in the home. To function in the human world, a humanoid household robot must be able to locate itself and perceive the environment like a human; scene perception, object detection and segmentation, and object spatial localization in 3D are fundamental capabilities for such humanoid robots. This paper presents a 3D multi-class object detection and segmentation method. The contributions are twofold. Firstly, we present a multi-class detection method, where a minimal joint codebook is learned in a principled manner…
Reference-Efficient Multimodal Bitstream-Corrupted Video Recovery via Depth-Conditioned Adaptation
Nanyang Technological University（南洋理工大学）；Huazhong University of Science and Technology（华中科技大学）；Harbin Engineering University（哈尔滨工程大学）；Institute for Infocomm Research, Agency for Science, Technology and Research (A*STAR)（新加坡科技研究局信息通信研究院）；National Tsing Hua University（国立清华大学）
Univ Lyon, INSA-Lyon, CNRS, LIRIS（里昂大学，里昂国立应用科学学院，法国国家科学研究中心，里昂信息科学与技术实验室）；Laboratoire d’Informatique de l’Université de Tours (EA 6300), INSA Centre Val de Loire（图尔大学信息学实验室，卢瓦尔河谷国立应用科学学院）
We address human action recognition from multi-modal video data involving articulated pose and RGB frames and propose a two-stream approach. The pose stream is processed with a convolutional model taking as input a 3D tensor holding data from a sub-sequence. A specific joint ordering, which respects the topology of the human body, ensures that different convolutional layers correspond to meaningful levels of abstraction. The raw RGB stream is handled by a spatio-temporal soft-attention mechanism conditioned on features from the pose network. An LSTM network receives input from a set of image l…
PhysMoDPO: Physically-Plausible Humanoid Motion with Preference Optimization
Mohamed Bin Zayed University of Artificial Intelligence (MBZUAI)（穆罕默德·本·扎耶德人工智能大学）；LIGM, École des Ponts, IP Paris, Univ Gustave Eiffel, CNRS（LIGM，巴黎理工学院，IP巴黎，古斯塔夫·埃菲尔大学，国家科学研究中心）；École polytechnique fédérale de Lausanne (EPFL)（洛桑联邦理工学院）
In contrast to the current literature, we address the problem of estimating the spectrum from a single common trichromatic RGB image obtained under unconstrained settings (e.g. unknown camera parameters, unknown scene radiance, unknown scene contents). For this we use a reference spectrum as provided by a hyperspectral image camera, and propose efficient deep learning solutions for sensitivity function estimation and spectral reconstruction from a single RGB image. We further expand the concept of spectral reconstruction such that to work for RGB images taken in the wild and propose a solution…
Beihang University（北京航空航天大学）；Sun Yatsen University（中山大学）；University of Pisa（比萨大学）；University of Trento（特伦托大学）；Jiangxi Research Institute, Beihang University（北京航空航天大学江西研究院）
Diffusion-based generative models have recently emerged as powerful solutions for high-quality synthesis in multiple domains. Leveraging the bidirectional Markov chains, diffusion probabilistic models generate samples by inferring the reversed Markov chain based on the learned distribution mapping at the forward diffusion process. In this work, we propose Modiff, a conditional paradigm that benefits from the denoising diffusion probabilistic model (DDPM) to tackle the problem of realistic and diverse action-conditioned 3D skeleton-based motion generation. We are a pioneering attempt that uses …
We propose NormalGAN, a fast adversarial learning-based method to reconstruct the complete and detailed 3D human from a single RGB-D image. Given a single front-view RGB-D image, NormalGAN performs two steps: front-view RGB-D rectification and back-view RGBD inference. The final model was then generated by simply combining the front-view and back-view RGB-D information. However, inferring backview RGB-D image with high-quality geometric details and plausible texture is not trivial. Our key observation is: Normal maps generally encode much more information of 3D surface details than RGB and dep…
