Comparing Utility of Inertial, Occupancy, Semantic, and Intent Information in Human Motion Prediction During Daily Tasks

Abstract:Accurate human motion prediction is crucial for robotic systems operating around people, particularly in complex indoor spaces. In this study, we assess the relative importance of different sources of information in indoor motion prediction with a human motion diffusion model. We collected a dataset of nine naive human subjects conducting simulated indoor daily activities while wearing a pair of Meta Aria glasses. This dataset includes ten buildings from a university campus, and encompasses 238 minutes of navigation between daily tasks. Overall, we demonstrate a 42% improvement beyond a constant velocity baseline. Including body motion, scene representation, and eye gaze fixation data significantly reduced prediction error. Semantic information was found to be useful for indoor motion prediction, but to a lesser degree than in outdoor navigation. Providing explicit intent information reduced error beyond any other addition, suggesting that incorporating explicit intent estimation or user input are fundamental for finer prediction of indoor motion. One of the few indicators of intent, eye gaze fixation, was found to be especially useful in predicting deceleration, and provided basic spatial information to the model in the absence of an occupancy map. These results are a first step towards predicting human motion in highly ambiguous indoor scenarios. Code will be made public upon acceptance. Project page: this https URL

9 pages, 13 figures. This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible

Robotics (cs.RO)

arXiv:2609.37971 [cs.RO]

(or arXiv:2609.37971v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.37971 arXiv-issued DOI via DataCite (pending registration)