STPOTR: Simultaneous Human Trajectory and Pose Prediction Using a Non-Autoregressive Transformer for Robot Following Ahead. (arXiv:2209.07600v3 [cs.RO] UPDATED)

In this paper, we develop a neural network model to predict future human
motion from an observed human motion history. We propose a non-autoregressive
transformer architecture to leverage its parallel nature for easier training
and fast, accurate predictions at test time. The proposed architecture divides
human motion prediction into two parts: 1) the human trajectory, which is the
hip joint 3D position over time and 2) the human pose which is the all other
joints 3D positions over time with …

arxiv human prediction robot transformer