Bayesian-Optimized One-Step Diffusion Model with Knowledge Distillation for Real-Time 3D Human Motion Prediction

TL;DR

This paper introduces a Bayesian-optimized, knowledge-distilled one-step diffusion model using MLPs for real-time 3D human motion prediction, significantly improving inference speed while maintaining accuracy.

Contribution

It presents a novel two-stage distillation process combined with Bayesian optimization to enable real-time motion prediction with diffusion models.

Findings

Achieves real-time prediction without performance loss.

Reduces inference time significantly compared to traditional diffusion models.

Demonstrates effectiveness on benchmark datasets.

Abstract

Human motion prediction is a cornerstone of human-robot collaboration (HRC), as robots need to infer the future movements of human workers based on past motion cues to proactively plan their motion, ensuring safety in close collaboration scenarios. The diffusion model has demonstrated remarkable performance in predicting high-quality motion samples with reasonable diversity, but suffers from a slow generative process which necessitates multiple model evaluations, hindering real-world applications. To enable real-time prediction, in this work, we propose training a one-step multi-layer perceptron-based (MLP-based) diffusion model for motion prediction using knowledge distillation and Bayesian optimization. Our method contains two steps. First, we distill a pretrained diffusion-based motion predictor, TransFusion, directly into a one-step diffusion model with the same denoiser architecture. Then, to further reduce the inference time, we remove the computationally expensive components from the original denoiser and use knowledge distillation once again to distill the obtained one-step diffusion model into an even smaller model based solely on MLPs. Bayesian optimization is used to tune the hyperparameters for training the smaller diffusion model. Extensive experimental studies are conducted on benchmark datasets, and our model can significantly improve the inference speed, achieving real-time prediction without noticeable degradation in performance.