Toward Reliable Human Pose Forecasting with Uncertainty

Recently, there has been an arms race of pose forecast- ing methods aimed at solving the spatio-temporal task of predicting a sequence of future 3D poses of a person given a sequence of past observed ones. However, the lack of unified benchmarks and limited uncertainty analysis have hindered progress in the field. To address this, we first develop an open-source library for human pose forecasting, including multiple models, supporting several datasets, and employing standardized evaluation metrics, with the aim of promoting research and moving toward a unified and consistent evaluation.Second, we devise two types of uncertainty in the problem to increase performance and convey better trust: 1) we propose a method for modeling aleatoric uncertainty by using uncertainty priors to inject knowledge about the pattern of uncertainty. This focuses the capacity of the model in the direction of more meaningful supervision while reducing the number of learned parameters and improving stability; 2) we introduce a novel approach for quantifying the epistemic uncertainty of any model through clustering and measuring the entropy of its assign- ments. Our experiments demonstrate up to 25% improvements in forecasting at short horizons, with no loss on longer horizons on Human3.6 M, AMSS, and 3DPW datasets, and better performance in uncertainty estimation. The code is available online. IndexTerms—Computervisionforautomation,human-centered robotics, human-robot collaboration, uncertainty.