While it is relatively easier to train humanoid robots to mimic specific locomotion skills, it is more challenging to learn from various motions and adhere to continuously changing commands. These robots must accurately track motion instructions, seamlessly transition between a variety of movements, and master intermediate motions not present in their reference data. In this work, we propose a novel approach that integrates human-like motion transfer with precise velocity tracking by a series of improvements to classical imitation learning. To enhance generalization, we employ the Wasserstein divergence criterion (WGAN-div). Furthermore, a Hybrid Internal Model provides structured estimates of hidden states and velocity to enhance mobile stability and environment adaptability, while a curiosity bonus fosters exploration. Our comprehensive method promises highly human-like locomotion that adapts to varying velocity requirements, direct generalization to unseen motions and multitasking, as well as zero-shot transfer to the simulator and the real world across different terrains. These advancements are validated through simulations across various robot models and extensive real-world experiments.

Perception and prediction are two separate modules in the existing autonomous driving systems. They interact with each other via hand-picked features such as agent bounding boxes and trajectories. Due to this separation, prediction, as a downstream module, only receives limited information from the perception module. To make matters worse, errors from the perception modules can propagate and accumulate, adversely affecting the prediction results. In this work, we propose ViP 3D, a query-based visual trajectory prediction pipeline that exploits rich information from raw videos to directly predict future trajectories of agents in a scene. ViP3D employs sparse agent queries to detect, track, and predict throughout the pipeline, making it the first fully differentiable vision-based trajectory prediction approach. Instead of using historical feature maps and trajectories, useful information from previous timestamps is encoded in agent queries, which makes ViP3D a concise streaming prediction method. Furthermore, extensive experimental results on the nuScenes dataset show the strong vision-based prediction performance of ViP 3D over traditional pipelines and previous end-to-end models.11Code and demos are available on the project page: https://tsinghua-mars-lab.github.io/ViP3D

The Video-to-Audio (V2A) model has recently gained attention for its practical application in generating audio directly from silent videos, particularly in video/film production. However, previous methods in V2A have limited generation quality in terms of temporal synchronization and audio-visual relevance. We present Diff-Foley, a synchronized Video-to-Audio synthesis method with a latent diffusion model (LDM) that generates high-quality audio with improved synchronization and audio-visual relevance. We adopt contrastive audio-visual pretraining (CAVP) to learn more temporally and semantically aligned features, then train an LDM with CAVP-aligned visual features on spectrogram latent space. The CAVP-aligned features enable LDM to capture the subtler audio-visual correlation via a cross-attention module. We further significantly improve sample quality with `double guidance'. Diff-Foley achieves state-of-the-art V2A performance on current large scale V2A dataset. Furthermore, we demonstrate Diff-Foley practical applicability and adaptability via customized downstream finetuning. Project Page: https://diff-foley.github.io/

While the performance of cross-lingual TTS based on monolingual corpora has been significantly improved recently, generating cross-lingual speech still suffers from the foreign accent problem, leading to limited naturalness. Besides, current cross-lingual methods ignore modeling emotion, which is indispensable paralinguistic information in speech delivery. In this paper, we propose DiCLET-TTS, a Diffusion model based Cross-Lingual Emotion Transfer method that can transfer emotion from a source speaker to the intra- and cross-lingual target speakers. Specifically, to relieve the foreign accent problem while improving the emotion expressiveness, the terminal distribution of the forward diffusion process is parameterized into a speaker-irrelevant but emotion-related linguistic prior by a prior text encoder with the emotion embedding as a condition. To address the weaker emotional expressiveness problem caused by speaker disentanglement in emotion embedding, a novel orthogonal projection based emotion disentangling module (OP-EDM) is proposed to learn the speaker-irrelevant but emotion-discriminative embedding. Moreover, a condition-enhanced DPM decoder is introduced to strengthen the modeling ability of the speaker and the emotion in the reverse diffusion process to further improve emotion expressiveness in speech delivery. Cross-lingual emotion transfer experiments show the superiority of DiCLET-TTS over various competitive models and the good design of OP-EDM in learning speaker-irrelevant but emotion-discriminative embedding.

Cycle consistent generative adversarial network (CycleGAN) and variational autoencoder (VAE) based models have gained popularity in non-parallel voice conversion recently.However, they often suffer from difficult training process and unsatisfactory results.In this paper, we propose CVC, a contrastive learning-based adversarial approach for voice conversion.Compared to previous CycleGAN-based methods, CVC only requires an efficient one-way GAN training by taking the advantage of contrastive learning.When it comes to nonparallel one-to-one voice conversion, CVC is on par or better than CycleGAN and VAE while effectively reducing training time.CVC further demonstrates superior performance in manyto-one voice conversion, enabling the conversion from unseen speakers.

Dubbing is a post-production process of re-recording actors’ dialogues, which is extensively used in filmmaking and video production. It is usually performed manually by professional voice actors who read lines with proper prosody, and in synchronization with the pre-recorded videos. In this work, we propose Neural Dubber, the first neural network model to solve a novel automatic video dubbing (AVD) task: synthesizing human speech synchronized with the given video from the text. Neural Dubber is a multi-modal text-to-speech (TTS) model that utilizes the lip movement in the video to control the prosody of the generated speech. Furthermore, an image-based speaker embedding (ISE) module is developed for the multi-speaker setting, which enables Neural Dubber to generate speech with a reasonable timbre according to the speaker’s face. Experiments on the chemistry lecture single-speaker dataset and LRS2 multi-speaker dataset show that Neural Dubber can generate speech audios on par with state-of-the-art TTS models in terms of speech quality. Most importantly, both qualitative and quantitative evaluations show that Neural Dubber can control the prosody of synthesized speech by the video, and generate high-fidelity speech temporally synchronized with the video.