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Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…
Non-verbal communication plays a particularly important role in a wide range of scenarios in Human-Robot Interaction (HRI). Accordingly, this work addresses the problem of human gesture recognition. In particular, we focus on head and eye…
From SAE Level 3 of automation onwards, drivers are allowed to engage in activities that are not directly related to driving during their travel. However, in level 3, a misunderstanding of the capabilities of the system might lead drivers…
In this paper, we address the problem of estimating the hand pose from the egocentric view when the hand is interacting with objects. Specifically, we propose a method to label a dataset Ego-Siam which contains the egocentric images…
For a service robot, it is crucial to perceive as early as possible that an approaching person intends to interact: in this case, it can proactively enact friendly behaviors that lead to an improved user experience. We solve this perception…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
We investigate the ability of Vision Language Models (VLMs) to perform visual perspective taking using a new set of visual tasks inspired by established human tests. Our approach leverages carefully controlled scenes in which a single…
Background: Egocentric video has recently emerged as a potential solution for monitoring hand function in individuals living with tetraplegia in the community, especially for its ability to detect functional use in the home environment.…
Recent advancements in learning from human demonstration have shown promising results in addressing the scalability and high cost of data collection required to train robust visuomotor policies. However, existing approaches are often…
An understanding of the nature of objects could help robots to solve both high-level abstract tasks and improve performance at lower-level concrete tasks. Although deep learning has facilitated progress in image understanding, a robot's…
We address the problem of executing tool-using manipulation skills in scenarios where the objects to be used may vary. We assume that point clouds of the tool and target object can be obtained, but no interpretation or further knowledge…
Visual servoing technology has been well developed and applied in many automated manufacturing tasks, especially in tools' pose alignment. To access a full global view of tools, most applications adopt eye-to-hand configuration or…
This paper introduces neck-mounted view gaze estimation, a new task that estimates user gaze from the neck-mounted camera perspective. Prior work on egocentric gaze estimation, which predicts device wearer's gaze location within the…
We address the challenge of unsupervised mistake detection in egocentric video of skilled human activities through the analysis of gaze signals. While traditional methods rely on manually labeled mistakes, our approach does not require…
To make safe transitions from autonomous to manual control, a vehicle must have a representation of the awareness of driver state; two metrics which quantify this state are the Observable Readiness Index and Takeover Time. In this work, we…
In recent years, the robotics community has made substantial progress in robotic manipulation using deep reinforcement learning (RL). Effectively learning of long-horizon tasks remains a challenging topic. Typical RL-based methods…
Pointing gestures are a common interaction method used in Human-Robot Collaboration for various tasks, ranging from selecting targets to guiding industrial processes. This study introduces a method for localizing pointed targets within a…
Human actions in egocentric videos are often hand-object interactions composed from a verb (performed by the hand) applied to an object. Despite their extensive scaling up, egocentric datasets still face two limitations - sparsity of action…
Predicting other people's action is key to successful social interactions, enabling us to adjust our own behavior to the consequence of the others' future actions. Studies on action recognition have focused on the importance of individual…
Human-robot collaboration has significant potential in recycling due to the wide variation in the composition of recyclable products. Six participants performed a recyclable item sorting task collaborating with a robot arm equipped with a…