Related papers: Human Intention Estimation based on Hidden Markov …

Cognitive abilities, such as Theory of Mind (ToM), play a vital role in facilitating cooperation in human social interactions. However, our study reveals that agents with higher ToM abilities may not necessarily exhibit better cooperative…

We present Latent Theory of Mind (LatentToM), a decentralized diffusion policy architecture for collaborative robot manipulation. Our policy allows multiple manipulators with their own perception and computation to collaborate with each…

As large language models (LLMs) continue to advance, there is increasing interest in their ability to infer human mental states and demonstrate a human-like Theory of Mind (ToM). Most existing ToM evaluations, however, are centered on…

Assistive robots can potentially improve the quality of life and personal independence of elderly people by supporting everyday life activities. To guarantee a safe and intuitive interaction between human and robot, human intentions need to…

This paper describes a method of estimating the intention of a user's motion in a robot tele-operation scenario. One of the issues in tele-operation is latency, which occurs due to various reasons such as a slow robot motion and a narrow…

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…

Vision Language Models (VLMs) have demonstrated strong reasoning capabilities in Visual Question Answering (VQA) tasks; however, their ability to perform Theory of Mind (ToM) tasks, such as inferring human intentions, beliefs, and mental…

During collaborative tasks, human behavior is guided by multiple levels of intentions that evolve over time, such as task sequence preferences and interaction strategies. To adapt to these changing preferences and promptly correct any…

Constraint-aware estimation of human intent is essential for robots to physically collaborate and interact with humans. Further, to achieve fluid collaboration in dynamic tasks intent estimation should be achieved in real-time. In this…

Theory-of-Mind (ToM) enables humans to infer mental states-such as beliefs, desires, and intentions-forming the foundation of social cognition. However, existing computational ToM methods rely on structured workflows with ToM-specific…

Theory of Mind (ToM) refers to the ability to infer others' mental states, such as beliefs, desires, and intentions. Current vision-language embodied agents lack ToM-based decision-making, and existing benchmarks focus solely on human…

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…

Machine learning of Theory of Mind (ToM) is essential to build social agents that co-live with humans and other agents. This capacity, once acquired, will help machines infer the mental states of others from observed contextual action…

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…

A major challenge in cognitive science and AI has been to understand how autonomous agents might acquire and predict behavioral and mental states of other agents in the course of complex social interactions. How does such an agent model the…

Human teams can be exceptionally efficient at adapting and collaborating during manipulation tasks using shared mental models. However, the same shared mental models that can be used by humans to perform robust low-level force and motion…

The architecture described in this paper encodes a theory of intentions based on the the key principles of non-procrastination, persistence, and automatically limiting reasoning to relevant knowledge and observations. The architecture…

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…

Theory of Mind (ToM) is the ability to understand and reflect on the mental states of others. Although this capability is crucial for human interaction, testing on Large Language Models (LLMs) reveals that they possess only a rudimentary…

Theory of Mind (ToM) refers to an agent's ability to model the internal states of others. Contributing to the debate whether large language models (LLMs) exhibit genuine ToM capabilities, our study investigates their ToM robustness using…