Abstract
Perceiving human motion via privacy-preserving 4D millimeter-wave (mmWave) radar is critical for next-generation human-robot interaction (HRI), where point cloud scene flow serves as a foundational motion representation. Yet the extreme sparsity and noise of 4D radar point clouds make non-rigid motion flow estimation severely ill-posed--a challenge that existing rigid-centric methods and prior works fail to adequately address, largely because they neglect the rich Doppler velocity cues inherent in 4D radar. We propose DiFF, a generative framework that marries Doppler-informed motion priors with a Kolmogorov-Arnold Network (KAN)-based conditional flow matching model. At its core, a KAN-attention mechanism enables expressive feature extraction, while a prior-guided generative process harnesses Doppler cues to regularize the ill-posed solution space. Extensive experiments show that DiFF achieves state-of-the-art (SOTA) performance across diverse real-world datasets, reducing 3D endpoint error to the millimeter scale on the mmBody benchmark.
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Publication details
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- Open access
- Green open access
Cite this article
APA 7
Wang, K., & Zhao, M. (2026). DiFF: Doppler-informed Flow Matching for Human Motion Flow. https://omanscience.com/en/articles/diff-doppler-informed-flow-matching-for-human-motion-flow
MLA 9
Wang, Kai, and Mingle Zhao. "DiFF: Doppler-informed Flow Matching for Human Motion Flow." https://omanscience.com/en/articles/diff-doppler-informed-flow-matching-for-human-motion-flow.
Chicago (author–date)
Wang, Kai, and Mingle Zhao. 2026. "DiFF: Doppler-informed Flow Matching for Human Motion Flow." https://omanscience.com/en/articles/diff-doppler-informed-flow-matching-for-human-motion-flow.
Harvard
Wang, K. and Zhao, M. (2026) 'DiFF: Doppler-informed Flow Matching for Human Motion Flow', Available at: https://omanscience.com/en/articles/diff-doppler-informed-flow-matching-for-human-motion-flow.
Vancouver
Wang K, Zhao M. DiFF: Doppler-informed Flow Matching for Human Motion Flow. https://omanscience.com/en/articles/diff-doppler-informed-flow-matching-for-human-motion-flow
IEEE
K. Wang, and M. Zhao, "DiFF: Doppler-informed Flow Matching for Human Motion Flow," https://omanscience.com/en/articles/diff-doppler-informed-flow-matching-for-human-motion-flow.