27 research outputs found
Context-aware Human Motion Prediction
The problem of predicting human motion given a sequence of past observations
is at the core of many applications in robotics and computer vision. Current
state-of-the-art formulate this problem as a sequence-to-sequence task, in
which a historical of 3D skeletons feeds a Recurrent Neural Network (RNN) that
predicts future movements, typically in the order of 1 to 2 seconds. However,
one aspect that has been obviated so far, is the fact that human motion is
inherently driven by interactions with objects and/or other humans in the
environment. In this paper, we explore this scenario using a novel
context-aware motion prediction architecture. We use a semantic-graph model
where the nodes parameterize the human and objects in the scene and the edges
their mutual interactions. These interactions are iteratively learned through a
graph attention layer, fed with the past observations, which now include both
object and human body motions. Once this semantic graph is learned, we inject
it to a standard RNN to predict future movements of the human/s and object/s.
We consider two variants of our architecture, either freezing the contextual
interactions in the future of updating them. A thorough evaluation in the
"Whole-Body Human Motion Database" shows that in both cases, our context-aware
networks clearly outperform baselines in which the context information is not
considered.Comment: Accepted at CVPR2
On the equivalence between graph isomorphism testing and function approximation with GNNs
Graph neural networks (GNNs) have achieved lots of success on
graph-structured data. In the light of this, there has been increasing interest
in studying their representation power. One line of work focuses on the
universal approximation of permutation-invariant functions by certain classes
of GNNs, and another demonstrates the limitation of GNNs via graph isomorphism
tests.
Our work connects these two perspectives and proves their equivalence. We
further develop a framework of the representation power of GNNs with the
language of sigma-algebra, which incorporates both viewpoints. Using this
framework, we compare the expressive power of different classes of GNNs as well
as other methods on graphs. In particular, we prove that order-2 Graph
G-invariant networks fail to distinguish non-isomorphic regular graphs with the
same degree. We then extend them to a new architecture, Ring-GNNs, which
succeeds on distinguishing these graphs and provides improvements on real-world
social network datasets