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A core challenge for an agent learning to interact with the world is to predict how its actions affect objects in its environment. Many existing methods for learning the dynamics of physical interactions require labeled object information.…
Stowing, the task of placing objects in cluttered shelves or bins, is a common task in warehouse and manufacturing operations. However, this task is still predominantly carried out by human workers as stowing is challenging to automate due…
We present a method for human pose tracking that is based on learning spatiotemporal relationships among joints. Beyond generating the heatmap of a joint in a given frame, our system also learns to predict the offset of the joint from a…
The information available to robots in real tasks is widely distributed both in time and space, requiring the agent to search for relevant data. In humans, that face the same problem when sounds, images and smells are presented to their…
Predicting an interaction before it is fully executed is very important in applications such as human-robot interaction and video surveillance. In a two-human interaction scenario, there often contextual dependency structure between the…
We propose a novel system for robot-to-human object handover that emulates human coworker interactions. Unlike most existing studies that focus primarily on grasping strategies and motion planning, our system focus on 1. inferring human…
Spatio-temporal action detection in videos requires localizing the action both spatially and temporally in the form of an "action tube". Nowadays, most spatio-temporal action detection datasets (e.g. UCF101-24, AVA, DALY) are annotated with…
Artificial intelligence is essential to succeed in challenging activities that involve dynamic environments, such as object manipulation tasks in indoor scenes. Most of the state-of-the-art literature explores robotic grasping methods by…
Modelling interactions between humans and objects in natural environments is central to many applications including gaming, virtual and mixed reality, as well as human behavior analysis and human-robot collaboration. This challenging…
Lifelong localization in a given map is an essential capability for autonomous service robots. In this paper, we consider the task of long-term localization in a changing indoor environment given sparse CAD floor plans. The commonly used…
Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…
Objects are entities we act upon, where the functionality of an object is determined by how we interact with it. In this work we propose a Dual Attention Network model which reasons about human-object interactions. The dual-attentional…
Humans use spatial language to naturally describe object locations and their relations. Interpreting spatial language not only adds a perceptual modality for robots, but also reduces the barrier of interfacing with humans. Previous work…
Advances in GPS telemetry technology have enabled analysis of animal movement in open areas. Ecologists today are utilizing modern analytic tools to study animal behaviors from large quantity of GPS coordinates. Analytic tools with…
The relative spatial layout of a human and an object is an important cue for determining how they interact. However, until now, spatial layout has been used just as side-information for detecting human-object interactions (HOIs). In this…
One of the main goals of robotics and intelligent agent research is to enable natural communication with humans in physically situated settings. While recent work has focused on verbal modes such as language and speech, non-verbal…
In this paper, we describe a representation for spatial information, called the stochastic map, and associated procedures for building it, reading information from it, and revising it incrementally as new information is obtained. The map…
A service robot can provide a smoother interaction experience if it has the ability to proactively detect whether a nearby user intends to interact, in order to adapt its behavior e.g. by explicitly showing that it is available to provide a…
The growing use of robots in urban environments has raised concerns about potential safety hazards, especially in public spaces where humans and robots may interact. In this paper, we present a system for safe human-robot interaction that…
In this paper we present an experimental framework to gather data on face-to-face social interactions between individuals, with a high spatial and temporal resolution. We use active Radio Frequency Identification (RFID) devices that assess…