{"id":"https://openalex.org/W3207520884","doi":"https://doi.org/10.1109/icra48506.2021.9561665","title":"Probabilistic Human Motion Prediction via A Bayesian Neural Network","display_name":"Probabilistic Human Motion Prediction via A Bayesian Neural Network","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207520884","doi":"https://doi.org/10.1109/icra48506.2021.9561665","mag":"3207520884"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561665","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561665","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003488506","display_name":"Jie Xu","orcid":"https://orcid.org/0000-0002-2039-7055"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jie Xu","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an, China","Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100387343","display_name":"Xingyu Chen","orcid":"https://orcid.org/0000-0002-4946-7635"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingyu Chen","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an, China","Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006277484","display_name":"Xuguang Lan","orcid":"https://orcid.org/0000-0002-3422-944X"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuguang Lan","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an, China","Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047405956","display_name":"Nanning Zheng","orcid":"https://orcid.org/0000-0003-1608-8257"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nanning Zheng","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an, China","Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5003488506"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":0.5808,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.69090968,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3190","last_page":"3196"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7015501260757446},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6947588920593262},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6595794558525085},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6586542129516602},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.6374417543411255},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6005196571350098},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5885436534881592},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.577323853969574},{"id":"https://openalex.org/keywords/bayesian-network","display_name":"Bayesian network","score":0.5447822213172913},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.4759604334831238},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.4533292055130005}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7015501260757446},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6947588920593262},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6595794558525085},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6586542129516602},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.6374417543411255},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6005196571350098},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5885436534881592},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.577323853969574},{"id":"https://openalex.org/C33724603","wikidata":"https://www.wikidata.org/wiki/Q812540","display_name":"Bayesian network","level":2,"score":0.5447822213172913},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.4759604334831238},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.4533292055130005},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561665","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561665","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1516111018","https://openalex.org/W1522301498","https://openalex.org/W1567512734","https://openalex.org/W1735317348","https://openalex.org/W1959608418","https://openalex.org/W1990429558","https://openalex.org/W2010629420","https://openalex.org/W2011301426","https://openalex.org/W2032277247","https://openalex.org/W2099471712","https://openalex.org/W2099893201","https://openalex.org/W2099913338","https://openalex.org/W2101032778","https://openalex.org/W2111051539","https://openalex.org/W2158164339","https://openalex.org/W2164411961","https://openalex.org/W2166063021","https://openalex.org/W2247622001","https://openalex.org/W2594167370","https://openalex.org/W2600383743","https://openalex.org/W2769735038","https://openalex.org/W2891091472","https://openalex.org/W2896588340","https://openalex.org/W2899771611","https://openalex.org/W2951266961","https://openalex.org/W2956805085","https://openalex.org/W2963165299","https://openalex.org/W2963324990","https://openalex.org/W2964121744","https://openalex.org/W2964199361","https://openalex.org/W2964203186","https://openalex.org/W2978927732","https://openalex.org/W2986937521","https://openalex.org/W3003235888","https://openalex.org/W3091398331","https://openalex.org/W3102961490","https://openalex.org/W4320013936","https://openalex.org/W4394665732","https://openalex.org/W6631190155","https://openalex.org/W6633735129","https://openalex.org/W6640963894","https://openalex.org/W6684451488","https://openalex.org/W6690921621","https://openalex.org/W6735443497","https://openalex.org/W6756040250","https://openalex.org/W6764214684","https://openalex.org/W6768529555"],"related_works":["https://openalex.org/W2953205341","https://openalex.org/W2092643327","https://openalex.org/W235065745","https://openalex.org/W2029935773","https://openalex.org/W2787754950","https://openalex.org/W1572215850","https://openalex.org/W1985775355","https://openalex.org/W2352115286","https://openalex.org/W2476350415","https://openalex.org/W1734881440"],"abstract_inverted_index":{"Human":[0],"motion":[1,25,52,69,91],"prediction":[2,26,53,70],"is":[3,63],"an":[4,89],"important":[5],"and":[6,15,102,120,175],"challenging":[7],"topic":[8],"that":[9,145,167],"has":[10,116],"promising":[11],"prospects":[12],"in":[13,54,158],"efficient":[14,174],"safe":[16],"human-robot-interaction":[17],"systems.":[18],"Currently,":[19],"the":[20,23,66,94,99,103,111,114,123,171],"majority":[21],"of":[22,60],"human":[24,51],"algorithms":[27],"are":[28],"based":[29],"on":[30,135],"deterministic":[31,68,151],"models,":[32],"which":[33],"may":[34],"lead":[35],"to":[36,64,73],"risky":[37],"decisions":[38],"for":[39,50],"robots.":[40],"To":[41],"solve":[42],"this":[43,55],"problem,":[44],"we":[45],"propose":[46],"a":[47,74,136,159],"probabilistic":[48],"model":[49,81,108],"paper.":[56],"The":[57,142,163],"key":[58],"idea":[59],"our":[61,80,107,133,146,156,168],"approach":[62,134,147,157,169],"extend":[65],"conventional":[67],"neural":[71],"network":[72],"Bayesian":[75],"one.":[76],"On":[77,93],"one":[78],"hand,":[79,96],"could":[82,109],"generate":[83],"several":[84],"future":[85],"motions":[86],"when":[87],"given":[88],"observed":[90],"sequence.":[92],"other":[95],"by":[97],"calculating":[98],"Epistemic":[100],"Uncertainty":[101],"Heteroscedastic":[104],"Aleatoric":[105],"Uncertainty,":[106],"tell":[110],"robot":[112],"if":[113],"observation":[115],"been":[117],"seen":[118],"before":[119],"also":[121],"give":[122],"optimal":[124],"result":[125],"among":[126],"all":[127],"possible":[128],"predictions.":[129],"We":[130,153],"extensively":[131],"validate":[132],"large":[137],"scale":[138],"benchmark":[139],"dataset":[140],"Human3.6m.":[141],"experiments":[143],"show":[144,166],"performs":[148],"better":[149],"than":[150],"methods.":[152],"further":[154],"evaluate":[155],"Human-Robot-Interaction":[160],"(HRI)":[161],"scenario.":[162],"experimental":[164],"results":[165],"makes":[170],"interaction":[172],"more":[173],"safer.":[176]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-16T07:19:36.451410","created_date":"2025-10-10T00:00:00"}