mlsanityData to 14 Oct 2026

Pose Forecasting in Industrial Human-Robot Collaboration

arXiv 2208.07308 ↗First posted 24 Jul 2022cs.RO cs.CV cs.LGcited by 25

Not on the map. Why?

Abstract (arXiv)

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 operators. As a second contribution, we present a new benchmark of Cobots and Humans in Industrial COllaboration (CHICO). CHICO includes multi-view videos, 3D poses and trajectories of 20 human operators and cobots, engaging in 7 realistic industrial actions. Additionally, it reports 226 genuine collisions, taking place during the human-cobot interaction. We test SeS-GCN on CHICO for two important perception tasks in robotics: human pose forecasting, where it reaches an average error of 85.3 mm (MPJPE) at 1 sec in the future with a run time of 2.3 msec, and collision detection, by comparing the forecasted human motion with the known cobot motion, obtaining an F1-score of 0.64.

Key facts. Cited by 25 papers in the map (data through 14 Oct 2026). Builds on 31 of its 78 references that are in the map. First posted on arXiv 24 Jul 2022.

Builds on

31 of 78 references.

References · 31

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  3. 2015Distilling the Knowledge in a Neural Networkcited by 10,324
  4. 2015Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shiftcited by 7,005
  5. 2017MobileNets: Efficient Convolutional Neural Networks for Mobile Vision Applicationscited by 3,845
  6. 2016Aggregated Residual Transformations for Deep Neural Networkscited by 2,546
  7. 2016Xception: Deep Learning with Depthwise Separable Convolutionscited by 2,332
  8. 2013Visualizing and Understanding Convolutional Networkscited by 2,290
  9. 2021Is Space-Time Attention All You Need for Video Understanding?cited by 1,620
  10. 2018An Empirical Evaluation of Generic Convolutional and Recurrent Networks for Sequence Modelingcited by 1,476
  11. 2019AMASS: Archive of Motion Capture as Surface Shapescited by 1,236
  12. 2018OpenPose: Realtime Multi-Person 2D Pose Estimation using Part Affinity Fieldscited by 1,162
19 more
  1. 2016XNOR-Net: ImageNet Classification Using Binary Convolutional Neural Networkscited by 849
  2. 2017Convolutional Sequence to Sequence Learningcited by 552
  3. 20183D human pose estimation in video with temporal convolutions and semi-supervised trainingcited by 403
  4. 2017On human motion prediction using recurrent neural networkscited by 338
  5. 2019Learning Trajectory Dependencies for Human Motion Predictioncited by 246
  6. 2015Structural-RNN: Deep Learning on Spatio-Temporal Graphscited by 234
  7. 2020Spatio-Temporal Graph Transformer Networks for Pedestrian Trajectory Predictioncited by 218
  8. 2020History Repeats Itself: Human Motion Prediction via Motion Attentioncited by 165
  9. 2020Dynamic Multiscale Graph Neural Networks for 3D Skeleton-Based Human Motion Predictioncited by 132
  10. 2018Convolutional Sequence to Sequence Model for Human Dynamicscited by 115
  11. 2021MSR-GCN: Multi-Scale Residual Graph Convolution Networks for Human Motion Predictioncited by 100
  12. 2021SGCN:Sparse Graph Convolution Network for Pedestrian Trajectory Predictioncited by 97
  13. 2019Structured Prediction Helps 3D Human Motion Modellingcited by 96
  14. 2018A Neural Temporal Model for Human Motion Predictioncited by 87
  15. 2021Space-Time-Separable Graph Convolutional Network for Pose Forecastingcited by 84
  16. 2021Simple Baseline for Single Human Motion Forecastingcited by 18
  17. 2018Action Anticipation: Reading the Intentions of Humans and Robotscited by 17
  18. 2017Anticipating many futures: Online human motion prediction and synthesis for human-robot collaborationcited by 3
  19. 2021Cost-effective Deployment of BERT Models in Serverless Environmentcited by 2

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 10; 2024: 5; 2025: 4; 2026: 6.

25 papers.

Sort:

By area:

  1. 2023Multimodal Motion Conditioned Diffusion Model for Skeleton-based Video Anomaly Detectioncited by 42
  2. 2023Contracting Skeletal Kinematics for Human-Related Video Anomaly Detectioncited by 14
  3. 2023Markerless human pose estimation for biomedical applications: a surveycited by 13
  4. 2023Best Practices for 2-Body Pose Forecastingcited by 8
  5. 2024Robot Interaction Behavior Generation based on Social Motion Forecasting for Human-Robot Interactioncited by 7
  6. 2023Staged Contact-Aware Global Human Motion Forecastingcited by 6
  7. 2024Exploring 3D Human Pose Estimation and Forecasting from the Robot's Perspective: The HARPER Datasetcited by 6
  8. 2023DeFeeNet: Consecutive 3D Human Motion Prediction with Deviation Feedbackcited by 4
  9. 2024ThermoHands: A Benchmark for 3D Hand Pose Estimation from Egocentric Thermal Imagescited by 4
  10. 2023OO-dMVMT: A Deep Multi-view Multi-task Classification Framework for Real-time 3D Hand Gesture Classification and Segmentationcited by 3
  11. 2025Uncertainty-aware Probabilistic 3D Human Motion Forecasting via Invertible Networkscited by 2
  12. 2026CIGPose: Causal Intervention Graph Neural Network for Whole-Body Pose Estimationcited by 1
13 more
  1. 2023Multi-Dimensional Refinement Graph Convolutional Network with Robust Decouple Loss for Fine-Grained Skeleton-Based Action Recognitioncited by 0
  2. 20233D Pose Nowcasting: Forecast the Future to Improve the Presentcited by 0
  3. 2023Personalized Pose Forecastingcited by 0
  4. 2024AdvMT: Adversarial Motion Transformer for Long-term Human Motion Predictioncited by 0
  5. 2024SITUATE: Indoor Human Trajectory Prediction through Geometric Features and Self-Supervised Vision Representationcited by 0
  6. 2025Uncertainty Aware-Predictive Control Barrier Functions: Safer Human Robot Interaction through Probabilistic Motion Forecastingcited by 0
  7. 2025Scriboora: Rethinking Human Pose Forecastingcited by 0
  8. 2025OMG-Bench: A New Challenging Benchmark for Skeleton-based Online Micro Hand Gesture Recognitioncited by 0
  9. 2026Diverse Yet Consistent: Context-Guided Diffusion with Energy-Based Joint Refinement for Multi-Agent Motion Predictioncited by 0
  10. 2026STAR: Skeletal Token Alignment and Rearrangement for Interaction Recognitioncited by 0
  11. 2026SPARC: Single-Pass Scaling for Motion Forecasting with Conformal Bayesian Last Layerscited by 0
  12. 2026De-biasing Skeleton-based Action Recognition with Convex Hull Adaptive Shiftcited by 0
  13. 2026Adaptive Interaction Network for Human Motion Prediction During Human-Robot Collaborationcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025PRGCN: A Graph Memory Network for Cross-Sequence Pattern Reuse in 3D Human Pose Estimation
  2. 2025PrediFlow: A Flow-Based Prediction-Refinement Framework for Real-Time Human Motion Prediction in Human-Robot Collaboration
  3. 2026LA-Pose: Latent Action Pretraining Meets Pose Estimation
  4. 2026InternW0-Δ: A World Action Model Bridging Predictive Dynamics and Actions with 20K+ Hours of Open Data
  5. 2026Social Intuition vs. Machine Reasoning: Anticipating Human-Robot Interaction from multiple modalities
  6. 2024GRPose: Learning Graph Relations for Human Image Generation with Pose Priors
  7. 2025Learning Sequential Kinematic Models from Demonstrations for Multi-Jointed Articulated Objects
  8. 2019Learning to Dynamically Coordinate Multi-Robot Teams in Graph Attention Networks