toplogo
Sign In

Neural Riemannian Distance Fields for Learning Articulated Pose Priors


Core Concepts
NRDF introduces a principled method to model data-driven priors on high-dimensional Riemannian manifolds, offering superior performance in various pose-related tasks. The approach involves training NRDFs on positive examples only, ensuring geodesic distances follow desired distributions.
Abstract
Neural Riemannian Distance Fields (NRDF) present a novel approach to modeling articulated poses by learning data-driven priors on high-dimensional Riemannian manifolds. NRDF outperforms existing methods in pose generation, image-based pose estimation, and solving inverse kinematics tasks. By introducing innovative sampling algorithms and projection techniques, NRDF demonstrates versatility across human, hand, and animal poses. Key points: NRDF models plausible articulations as zero-level sets of neural fields in product-quaternion space. Training NRDF only on positive examples ensures geodesic distances follow desired distributions. NRDF's adaptive-step Riemannian gradient descent algorithm accelerates convergence in mapping poses onto learned manifolds. Evaluation shows NRDF's superior performance over prior works like VPoser and Pose-NDF in various downstream tasks. The model extends to hand and animal poses with diverse samples generated using NRDF.
Stats
"NRDF introduces a principled method to model data-driven priors on high-dimensional Riemannian manifolds." "NRDF outperforms existing methods in various downstream tasks such as pose generation, image-based pose estimation, and solving inverse kinematics." "Training NRDF only on positive examples ensures that geodesic distances follow a desired distribution."
Quotes
"Faithfully modeling the space of articulations is crucial for recovery and generation of realistic poses." "NRDF can effectively represent any articulation from humans to animals." "NRDF's versatility extends to hand and animal poses with superior performance."

Key Insights Distilled From

by Yannan He,Ga... at arxiv.org 03-06-2024

https://arxiv.org/pdf/2403.03122.pdf
NRDF

Deeper Inquiries

How does the sampling algorithm used by NRDF ensure a well-behaved training data distribution?

The sampling algorithm employed by NRDF ensures a well-behaved training data distribution by explicitly controlling the generated distance distributions. Unlike traditional methods that may lead to distances following undesirable patterns, such as an X-like distribution for large k, NRDF's sampling framework allows for more control over the resulting distance distribution. By gradually decreasing the number of samples near the manifold and ensuring a gradual decrease in faraway regions, NRDF's sampling algorithm creates a dataset that spans the entire space in a continuous and well-behaved manner. This approach results in robust learning without requiring manual fine-tuning specific to each task.

How might backpropagating the Riemannian gradient in NRDF impact generative models?

Backpropagating the Riemannian gradient in Neural Riemannian Distance Fields (NRDF) has significant implications for generative models. By utilizing backpropagation to compute gradients on high-dimensional product-quaternion spaces, NRDF can effectively model complex articulated shapes and learn detailed pose manifolds. This process enables efficient optimization techniques like adaptive-step Riemannian gradient descent algorithms, leading to accelerated convergence when mapping poses onto learned manifolds. In terms of generative models, backpropagating the Riemannian gradient allows for more accurate and precise modeling of articulations compared to traditional approaches. It enhances the ability to generate diverse and realistic poses while maintaining adherence to desired distributions on Rieman- nian manifolds. The use of backpropagation also facilitates better optimization strategies within generative frameworks, ultimately improving performance across various downstream tasks related to pose generation, image-based pose estimation, and inverse kinematics.

How might principles behind Neural Riemannian Distance Fields be applied beyond articulated pose priors?

The principles behind Neural Riemannian Distance Fields (NRDF) can be extended beyond articulated pose priors into various domains where understanding complex spatial relationships is crucial: Computer Vision: In computer vision applications such as object recognition or scene understanding, incorporating similar distance field learning paradigms could enhance spatial reasoning capabilities. Robotics: In robotics applications involving robot manipulation or navigation tasks, leveraging concepts from NRDF could improve motion planning algorithms based on learned distance fields. Medical Imaging: Applying NRDF principles in medical imaging could aid in analyzing anatomical structures or tracking movements within biological systems with intricate articulations. Natural Language Processing: Adapting ideas from neural distance fields could assist in capturing semantic relationships between words or phrases based on their contextual proximity. By applying these principles beyond articulated poses into diverse domains requiring spatial reasoning or structured data representation, researchers can potentially enhance model performance and achieve more robust results across different applications areas where complex geometric relationships are involved.
0