LHMP 2024 Invited talk by Sanjiban Choudhury (Cornell University)
Isn't Motion Prediction just Model-based RL?
We present a clarifying perspective on motion prediction as an attempt to learn a model of human motion useful for a downstream policy. Drawing from new (and some old) principles of Model-based RL (MBRL), we discuss how to train such models — which loss functions to use, and which data distribution to train on. We present first results on Collaborative Manipulation, where we train transformer models to predict human motion around robots and close the loop to plan with these predictions.
IEEE International Conference on Robotics and Automation (ICRA),
May 13, 2024
https://motionpredictionicra2024.gith...