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  4. Motion Style Transfer: Modular Low-Rank Adaptation for Deep Motion Forecasting
 
conference paper not in proceedings

Motion Style Transfer: Modular Low-Rank Adaptation for Deep Motion Forecasting

Kothari, Parth Ashit  
•
Li, Danya
•
Liu, Yuejiang  
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2022
Conference on Robotics Learning

Deep motion forecasting models have achieved great success when trained on a massive amount of data. Yet, they often perform poorly when training data is limited. To address this challenge, we propose a transfer learning approach for efficiently adapting pre-trained forecasting models to new domains, such as unseen agent types and scene contexts. Unlike the conventional fine-tuning approach that updates the whole encoder, our main idea is to reduce the amount of tunable parameters that can precisely account for the target domain-specific motion style. To this end, we introduce two components that exploit our prior knowledge of motion style shifts: (i) a low-rank motion style adapter that projects and adjusts the style features at a low-dimensional bottleneck; and (ii) a modular adapter strategy that disentangles the features of scene context and motion history to facilitate a fine-grained choice of adaptation layers. Through extensive experimentation, we show that our proposed adapter design, coined MoSA, outperforms prior methods on several forecasting benchmarks.

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Paper_ID_78_Camera_Ready.pdf

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http://purl.org/coar/version/c_970fb48d4fbd8a85

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openaccess

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CC BY

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3.72 MB

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