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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
Diffusion-Based Imitation Learning for Social Pose Genera...
Antonio Lech Martin-Ozimek, Isuru Jayarathne, Su Larb Mon, Jouh · 2025-01-19 · via cs.RO updates on arXiv.org

Intelligent agents, such as robots and virtual agents, must understand the dynamics of complex social interactions to interact with humans. Effectively representing social dynamics is challenging because we require multi-modal, synchronized observations to understand a scene. We explore how using a single modality, the pose behavior, of multiple individuals in a social interaction can be used to generate nonverbal social cues for the facilitator of that interaction. The facilitator acts to make a social interaction proceed smoothly and is an essential role for intelligent agents to replicate in human-robot interactions. In this paper, we adapt an existing diffusion behavior cloning model to learn and replicate facilitator behaviors. Furthermore, we evaluate two representations of pose observations from a scene, one representation has pre-processing applied and one does not. The purpose of this paper is to introduce a new use for diffusion behavior cloning for pose generation in social interactions. The second is to understand the relationship between performance and computational load for generating social pose behavior using two different techniques for collecting scene observations. As such, we are essentially testing the effectiveness of two different types of conditioning for a diffusion model. We then evaluate the resulting generated behavior from each technique using quantitative measures such as mean per-joint position error (MPJPE), training time, and inference time. Additionally, we plot training and inference time against MPJPE to examine the trade-offs between efficiency and performance. Our results suggest that the further pre-processed data can successfully condition diffusion models to generate realistic social behavior, with reasonable trade-offs in accuracy and processing time.