{"id":"https://openalex.org/W4405786857","doi":"https://doi.org/10.1109/iros58592.2024.10802068","title":"Predicting Long-Term Human Behaviors in Discrete Representations via Physics-Guided Diffusion","display_name":"Predicting Long-Term Human Behaviors in Discrete Representations via Physics-Guided Diffusion","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786857","doi":"https://doi.org/10.1109/iros58592.2024.10802068"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802068","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5111217709","display_name":"Zhitian Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Zhitian Zhang","raw_affiliation_strings":["Simon Fraser University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simon Fraser University","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064485244","display_name":"Anjian Li","orcid":"https://orcid.org/0000-0003-3492-348X"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anjian Li","raw_affiliation_strings":["Princeton University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Princeton University","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054803584","display_name":"Angelica Lim","orcid":"https://orcid.org/0000-0001-9288-0380"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Angelica Lim","raw_affiliation_strings":["Simon Fraser University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simon Fraser University","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020559544","display_name":"Mo Chen","orcid":"https://orcid.org/0000-0001-8390-6948"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mo Chen","raw_affiliation_strings":["Simon Fraser University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simon Fraser University","institution_ids":["https://openalex.org/I18014758"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3055,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.67922669,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"11500","last_page":"11507"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.8483999967575073,"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"}},"topics":[{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.8483999967575073,"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/T12592","display_name":"Opinion Dynamics and Social Influence","score":0.84579998254776,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.803722620010376},{"id":"https://openalex.org/keywords/diffusion","display_name":"Diffusion","score":0.621096134185791},{"id":"https://openalex.org/keywords/statistical-physics","display_name":"Statistical physics","score":0.5167235732078552},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4948393702507019},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.407992959022522},{"id":"https://openalex.org/keywords/quantum-mechanics","display_name":"Quantum mechanics","score":0.12791508436203003}],"concepts":[{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.803722620010376},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.621096134185791},{"id":"https://openalex.org/C121864883","wikidata":"https://www.wikidata.org/wiki/Q677916","display_name":"Statistical physics","level":1,"score":0.5167235732078552},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4948393702507019},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.407992959022522},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.12791508436203003}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802068","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":64,"referenced_works":["https://openalex.org/W2145339207","https://openalex.org/W2416041116","https://openalex.org/W2575705757","https://openalex.org/W2752796333","https://openalex.org/W2769883686","https://openalex.org/W2962894046","https://openalex.org/W2962977206","https://openalex.org/W2963001155","https://openalex.org/W2964040381","https://openalex.org/W2982745079","https://openalex.org/W2997902164","https://openalex.org/W3099842735","https://openalex.org/W3108908812","https://openalex.org/W3116651890","https://openalex.org/W3139491754","https://openalex.org/W3155733121","https://openalex.org/W3193987867","https://openalex.org/W4200304283","https://openalex.org/W4312592476","https://openalex.org/W4312862130","https://openalex.org/W4318719298","https://openalex.org/W4383172002","https://openalex.org/W4385403811","https://openalex.org/W4386066131","https://openalex.org/W4386075695","https://openalex.org/W4389666601","https://openalex.org/W4390872595","https://openalex.org/W4401417422","https://openalex.org/W6679045638","https://openalex.org/W6704559304","https://openalex.org/W6704571135","https://openalex.org/W6738596827","https://openalex.org/W6739901393","https://openalex.org/W6757817989","https://openalex.org/W6762931180","https://openalex.org/W6763153117","https://openalex.org/W6768425981","https://openalex.org/W6769043036","https://openalex.org/W6771270455","https://openalex.org/W6776438516","https://openalex.org/W6776601253","https://openalex.org/W6779265984","https://openalex.org/W6779823529","https://openalex.org/W6783713337","https://openalex.org/W6785759594","https://openalex.org/W6786375611","https://openalex.org/W6788990321","https://openalex.org/W6795288823","https://openalex.org/W6796929002","https://openalex.org/W6799458897","https://openalex.org/W6800229816","https://openalex.org/W6800425027","https://openalex.org/W6802631393","https://openalex.org/W6838483015","https://openalex.org/W6838833932","https://openalex.org/W6840815571","https://openalex.org/W6841549819","https://openalex.org/W6844872470","https://openalex.org/W6847081674","https://openalex.org/W6849037083","https://openalex.org/W6849127176","https://openalex.org/W6849187823","https://openalex.org/W6856810907","https://openalex.org/W6857810949"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2935759653","https://openalex.org/W3105167352","https://openalex.org/W54078636","https://openalex.org/W2954470139","https://openalex.org/W1501425562","https://openalex.org/W2902782467","https://openalex.org/W3084825885"],"abstract_inverted_index":{"Long-term":[0],"human":[1,24,43,63,77,154,174],"trajectory":[2,64,155,175],"prediction":[3],"is":[4],"a":[5,38,61,69,80,87,93],"challenging":[6],"yet":[7],"critical":[8],"task":[9],"in":[10,32,51,79,172],"robotics":[11],"and":[12,54,99,159,161],"autonomous":[13],"systems.":[14],"Prior":[15],"work":[16],"that":[17,67,166],"studied":[18],"how":[19],"to":[20,73,95,120,136],"predict":[21],"accurate":[22],"short-term":[23],"trajectories":[25,98],"with":[26],"only":[27],"unimodal":[28],"features":[29],"often":[30],"failed":[31],"long-term":[33,44,62,76,173],"prediction.":[34],"Reinforcement":[35],"learning":[36,42],"provides":[37],"good":[39],"solution":[40],"for":[41],"behaviors":[45,78],"but":[46],"can":[47],"suffer":[48],"from":[49],"challenges":[50],"data":[52],"efficiency":[53],"optimization.":[55],"In":[56],"this":[57],"work,":[58],"we":[59,127],"propose":[60],"forecasting":[65,156],"framework":[66,149,168],"leverages":[68],"guided":[70,110],"diffusion":[71,111,139],"model":[72],"generate":[74],"diverse":[75],"high-level":[81],"latent":[82,104,144],"action":[83,89,124],"space,":[84],"obtained":[85],"via":[86],"hierarchical":[88],"quantization":[90],"scheme":[91],"using":[92],"VQ-VAE":[94],"discretize":[96],"continuous":[97],"the":[100,132,138],"available":[101,153],"context.":[102],"The":[103],"actions":[105],"are":[106],"predicted":[107],"by":[108],"our":[109,148,167],"model,":[112],"which":[113],"uses":[114],"physics-inspired":[115],"guidance":[116],"at":[117],"test":[118],"time":[119],"constrain":[121],"generated":[122],"multimodal":[123],"distributions.":[125],"Specifically,":[126],"use":[128],"reachability":[129],"analysis":[130],"during":[131],"reverse":[133],"denoising":[134],"process":[135],"guide":[137],"steps":[140],"toward":[141],"physically":[142],"feasible":[143],"actions.":[145],"We":[146],"evaluate":[147],"on":[150],"two":[151],"publicly":[152],"datasets:":[157],"SFU-Store-Nav":[158],"JRDB,":[160],"extensive":[162],"experimental":[163],"results":[164],"show":[165],"achieves":[169],"superior":[170],"performance":[171],"forecasting.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
