Related papers: Estimating Human Intent for Physical Human-Robot C…
Robot understanding of human intentions is essential for fluid human-robot interaction. Intentions, however, cannot be directly observed and must be inferred from behaviors. We learn a model of adaptive human behavior conditioned on the…
Predicting the next action that a human is most likely to perform is key to human-AI collaboration and has consequently attracted increasing research interests in recent years. An important factor for next action prediction are human…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
Predicting human intention is critical to facilitating safe and efficient human-robot collaboration (HRC). However, it is challenging to build data-driven models for human intention prediction. One major challenge is due to the diversity…
Human action-anticipation methods predict what is the future action by observing only a few portion of an action in progress. This is critical for applications where computers have to react to human actions as early as possible such as…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
Understanding human intentions during interactions has been a long-lasting theme, that has applications in human-robot interaction, virtual reality and surveillance. In this study, we focus on full-body human interactions with large-sized…
Upper limb and hand functionality is critical to many activities of daily living and the amputation of one can lead to significant functionality loss for individuals. From this perspective, advanced prosthetic hands of the future are…
Intention prediction has become a relevant field of research in Human-Machine and Human-Robot Interaction. Indeed, any artificial system (co)-operating with and along humans, designed to assist and coordinate its actions with a human…
Human-robot collaboration (HRC) relies on accurate and timely recognition of human intentions to ensure seamless interactions. Among common HRC tasks, human-to-robot object handovers have been studied extensively for planning the robot's…
Efficient action prediction is of central importance for the fluent workflow between humans and equally so for human-robot interaction. To achieve prediction, actions can be encoded by a series of events, where every event corresponds to a…
We present a motion planning algorithm to compute collision-free and smooth trajectories for high-DOF robots interacting with humans in a shared workspace. Our approach uses offline learning of human actions along with temporal coherence to…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
Collaborative robots require effective human intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly, where human intention continuously changes. We propose the concept of intention…
We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios where preexisting data is sparse. Much prior work in human-robot collaboration uses observational models of…
Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedied by a myriad of…
The letter focuses on Haptic Glove (HG) based control of a Robotic Hand (RH) executing in-hand manipulation of certain objects of interest. The high dimensional motion signals in HG and RH possess intrinsic variability of kinematics…
Predicting human intent is challenging yet essential to achieving seamless Human-Robot Collaboration (HRC). Many existing approaches fail to fully exploit the inherent relationships between objects, tasks, and the human model. Current…
Human-robot collaboration is on the rise. Robots need to increasingly improve the efficiency and smoothness with which they assist humans by properly anticipating a human's intention. To do so, prediction models need to increase their…
The combination of collaborative robots and end-to-end AI, promises flexible automation of human tasks in factories and warehouses. However, such promise seems a few breakthroughs away. In the meantime, humans and cobots will collaborate…