惯性聚合 高效追踪和阅读你感兴趣的博客、新闻、科技资讯
阅读原文 在惯性聚合中打开

推荐订阅源

Google DeepMind News
Google DeepMind News
D
DataBreaches.Net
C
Check Point Blog
I
InfoQ
A
About on SuperTechFans
Engineering at Meta
Engineering at Meta
月光博客
月光博客
Recent Announcements
Recent Announcements
酷 壳 – CoolShell
酷 壳 – CoolShell
T
Tailwind CSS Blog
Y
Y Combinator Blog
博客园 - Franky
博客园_首页
罗磊的独立博客
量子位
美团技术团队
T
The Blog of Author Tim Ferriss
Last Week in AI
Last Week in AI
大猫的无限游戏
大猫的无限游戏
爱范儿
爱范儿
让小产品的独立变现更简单 - ezindie.com
让小产品的独立变现更简单 - ezindie.com
Martin Fowler
Martin Fowler
博客园 - 叶小钗
aimingoo的专栏
aimingoo的专栏

cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Simple means Faster: Real-Time Human Motion Forecasting i...
Junaid Ahmed Ansari, Brojeshwar Bhowmick · 2020-11-10 · via cs.RO updates on arXiv.org

We present a simple, fast, and light-weight RNN based framework for forecasting future locations of humans in first person monocular videos. The primary motivation for this work was to design a network which could accurately predict future trajectories at a very high rate on a CPU. Typical applications of such a system would be a social robot or a visual assistance system for all, as both cannot afford to have high compute power to avoid getting heavier, less power efficient, and costlier. In contrast to many previous methods which rely on multiple type of cues such as camera ego-motion or 2D pose of the human, we show that a carefully designed network model which relies solely on bounding boxes can not only perform better but also predicts trajectories at a very high rate while being quite low in size of approximately 17 MB. Specifically, we demonstrate that having an auto-encoder in the encoding phase of the past information and a regularizing layer in the end boosts the accuracy of predictions with negligible overhead. We experiment with three first person video datasets: CityWalks, FPL and JAAD. Our simple method trained on CityWalks surpasses the prediction accuracy of state-of-the-art method (STED) while being 9.6x faster on a CPU (STED runs on a GPU). We also demonstrate that our model can transfer zero-shot or after just 15% fine-tuning to other similar datasets and perform on par with the state-of-the-art methods on such datasets (FPL and DTP). To the best of our knowledge, we are the first to accurately forecast trajectories at a very high prediction rate of 78 trajectories per second on CPU.