Publications (17)
Person Re-Identification for Robot Person Following with Online Continual Learning
Hanjing Ye, Jieting Zhao, Yu Zhan +3
Robot person following (RPF) is a crucial capability in human-robot interaction (HRI) applications, allowing a robot to persistently follow a designated person. In practical RPF sc…
Follow-Bench: A Unified Motion Planning Benchmark for Socially-Aware Robot Person Following
Hanjing Ye, Weixi Situ, Jianwei Peng +4
Robot person following (RPF) -- mobile robots that follow and assist a specific person -- has emerging applications in personal assistance, security patrols, eldercare, and logisti…
Ray3D: ray-based 3D human pose estimation for monocular absolute 3D localization
Yu Zhan, Fenghai Li, Renliang Weng +1
In this paper, we propose a novel monocular ray-based 3D (Ray3D) absolute human pose estimation with calibrated camera. Accurate and generalizable absolute 3D human pose estimation…
Can Single-View Mesh Reconstruction Generalize to Robot Camera Rotation?
Yu Zhan, Guangcheng Chen, Hanjing Ye +4
Single-view mesh reconstruction predicts object meshes and spatial layouts from a single observation, making it attractive for fast robot spatial reasoning and real-to-sim digital…
A new approach for the inversion of residual stress based on acoustoelasticity theory and full waveform inversion
Maoyu Xu, Hongjian Zhao, Changsheng Liu +1
Acoustoelasticity theory has been widely used to evaluate the residual stress (or prestress), almost all the available ultrasonic stress detection methods are based on the relation…
Monocular Person Localization under Camera Ego-motion
Yu Zhan, Hanjing Ye, Hong Zhang
Localizing a person from a moving monocular camera is critical for Human-Robot Interaction (HRI). To estimate the 3D human position from a 2D image, existing methods either depend…
HyperAttack: Multi-Gradient-Guided White-box Adversarial Structure Attack of Hypergraph Neural Networks
Chao Hu, Ruishi Yu, Binqi Zeng +5
Hypergraph neural networks (HGNN) have shown superior performance in various deep learning tasks, leveraging the high-order representation ability to formulate complex correlations…
Human Orientation Estimation under Partial Observation
Jieting Zhao, Hanjing Ye, Yu Zhan +2
Reliable Human Orientation Estimation (HOE) from a monocular image is critical for autonomous agents to understand human intention. Significant progress has been made in HOE under…
Instance Search via Instance Level Segmentation and Feature Representation
Yu Zhan, Wan-Lei Zhao
Instance search is an interesting task as well as a challenging issue due to the lack of effective feature representation. In this paper, an instance level feature representation b…
TPT-Bench: A Large-Scale, Long-Term and Robot-Egocentric Dataset for Benchmarking Target Person Tracking
Hanjing Ye, Yu Zhan, Weixi Situ +6
Tracking a target person from robot-egocentric views is crucial for developing autonomous robots that provide continuous personalized assistance or collaboration in Human-Robot Int…
Fitting Unknown Number of Hyperplanes with Manifold Optimization
Zhiqin Cheng, Yu Zhan, Mingjin Zhang +2
Fitting an unknown number of hyperplanes to data is a fundamental yet challenging problem in machine learning, characterized by its non-convexity, non-differentiability, and unknow…
SoulX-FlashTalk: Real-Time Infinite Streaming of Audio-Driven Avatars via Self-Correcting Bidirectional Distillation
Le Shen, Qian Qiao, Tan Yu +7
Deploying massive diffusion models for real-time, infinite-duration, audio-driven avatar generation presents a significant engineering challenge, primarily due to the conflict betw…
MfNeuPAN: Proactive End-to-End Navigation in Dynamic Environments via Direct Multi-Frame Point Constraints
Yiwen Ying, Hanjing Ye, Senzi Luo +4
Obstacle avoidance in complex and dynamic environments is a critical challenge for real-time robot navigation. Model-based and learning-based methods often fail in highly dynamic s…
The weak form method for acoustoelastic simulation with arbitrary prestress
Xu Maoyu, Changsheng Liu, Yu Zhan
Acoustoelastic theory has been widely used to evaluate the residual stress (or prestress). However, most of the research remains focused on plate under simple tensile stress condit…
Adap-RPF: Adaptive Trajectory Sampling for Robot Person Following in Dynamic Crowded Environments
Weixi Situ, Hanjing Ye, Jianwei Peng +2
Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios.…
RPF-Search: Field-based Search for Robot Person Following in Unknown Dynamic Environments
Hanjing Ye, Kuanqi Cai, Yu Zhan +3
Autonomous robot person-following (RPF) systems are crucial for personal assistance and security but suffer from target loss due to occlusions in dynamic, unknown environments. Cur…
Learning Robot Visual Navigation in Crowds via Intention-Aware Scene Representations
Han Bao, Bingyi Xia, Hanjing Ye +5
Robot crowd navigation requires the ability to infer human intentions while accounting for the structural constraints of the environment. Currently, deep reinforcement learning (DR…