mlsanityData to 7 Oct 2026

Unsupervised Motion Retargeting for Human-Robot Imitation

arXiv 2402.05115 ↗First posted 18 Jan 2024cs.RO cs.AI cs.LGcited by 0

Not on the map. Why?

Abstract (arXiv)

This early-stage research work aims to improve online human-robot imitation by translating sequences of joint positions from the domain of human motions to a domain of motions achievable by a given robot, thus constrained by its embodiment. Leveraging the generalization capabilities of deep learning methods, we address this problem by proposing an encoder-decoder neural network model performing domain-to-domain translation. In order to train such a model, one could use pairs of associated robot and human motions. Though, such paired data is extremely rare in practice, and tedious to collect. Therefore, we turn towards deep learning methods for unpaired domain-to-domain translation, that we adapt in order to perform human-robot imitation.

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 21 of its 63 references that are in the map. First posted on arXiv 18 Jan 2024.

Builds on

21 of 63 references.

References · 21

  1. 2018Spatial Temporal Graph Convolutional Networks for Skeleton-Based Action Recognitioncited by 1,199
  2. 2018OpenPose: Realtime Multi-Person 2D Pose Estimation using Part Affinity Fieldscited by 1,161
  3. 2017Spatio-Temporal Graph Convolutional Networks: A Deep Learning Framework for Traffic Forecastingcited by 1,125
  4. 2016Least Squares Generative Adversarial Networkscited by 1,000
  5. 2020Contrastive Learning for Unpaired Image-to-Image Translationcited by 637
  6. 2017Unsupervised Image-to-Image Translation Networkscited by 602
  7. 2020Disentangling and Unifying Graph Convolutions for Skeleton-Based Action Recognitioncited by 339
  8. 2021Revisiting Skeleton-based Action Recognitioncited by 256
  9. 2016Spatio-Temporal LSTM with Trust Gates for 3D Human Action Recognitioncited by 142
  10. 2017A New Representation of Skeleton Sequences for 3D Action Recognitioncited by 125
  11. 2020Skeleton-Aware Networks for Deep Motion Retargetingcited by 118
  12. 2020BlazePose: On-device Real-time Body Pose trackingcited by 112
9 more
  1. 2020Skeleton-based Action Recognition via Spatial and Temporal Transformer Networkscited by 98
  2. 2017Interpretable 3D Human Action Analysis with Temporal Convolutional Networkscited by 88
  3. 2016Action Recognition Based on Joint Trajectory Maps Using Convolutional Neural Networkscited by 32
  4. 2019A Deep Learning Framework for Assessing Physical Rehabilitation Exercisescited by 26
  5. 2019Skeleton Image Representation for 3D Action Recognition based on Tree Structure and Reference Jointscited by 25
  6. 2021Action Transformer: A Self-Attention Model for Short-Time Pose-Based Human Action Recognitioncited by 24
  7. 2020A Review of Computational Approaches for Evaluation of Rehabilitation Exercisescited by 9
  8. 2021A co-design approach for a rehabilitation robot coach for physical rehabilitation based on the error classification of motion errorscited by 5
  9. 2018Generating Shared Latent Variables for Robots to Imitate Human Movements and Understand their Physical Limitationscited by 2

Built on by

Not cited yet.