Related papers: Learning Human Search Behavior from Egocentric Vis…
Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…
To enable a safe and effective human-robot cooperation, it is crucial to develop models for the identification of human activities. Egocentric vision seems to be a viable solution to solve this problem, and therefore many works provide deep…
The way we perceive the world fundamentally shapes how we move, whether it is how we navigate in a room or how we interact with other humans. Current human motion generation methods, neglect this interdependency and use task-specific…
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…
We train embodied agents to play Visual Hide and Seek where a prey must navigate in a simulated environment in order to avoid capture from a predator. We place a variety of obstacles in the environment for the prey to hide behind, and we…
This paper addresses a novel architecture for person-following robots using active search. The proposed system can be applied in real-time to general mobile robots for learning features of a human, detecting and tracking, and finally…
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…
We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…
Modeling visual search not only offers an opportunity to predict the usability of an interface before actually testing it on real users, but also advances scientific understanding about human behavior. In this work, we first conduct a set…
This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy…
Humans are in constant contact with the world as they move through it and interact with it. This contact is a vital source of information for understanding 3D humans, 3D scenes, and the interactions between them. In fact, we demonstrate…
The study of human factors in the frame of interaction studies has been relevant for usability engi-neering and ergonomics for decades. Today, with the advent of wearable eye-tracking and Google glasses, monitoring of human factors will…
Exploration is a prerequisite for learning useful behaviors in sparse-reward, long-horizon tasks, particularly within 3D environments. Curiosity-driven reinforcement learning addresses this via intrinsic rewards derived from the mismatch…
The automatic discovery of behaviour is of high importance when aiming to assess and improve the quality of life of people. Egocentric images offer a rich and objective description of the daily life of the camera wearer. This work proposes…
Planning at a higher level of abstraction instead of low level torques improves the sample efficiency in reinforcement learning, and computational efficiency in classical planning. We propose a method to learn such hierarchical…
Humans effortlessly "program" one another by communicating goals and desires in natural language. In contrast, humans program robotic behaviours by indicating desired object locations and poses to be achieved, by providing RGB images of…
We propose the use of a proportional-derivative (PD) control based policy learned via reinforcement learning (RL) to estimate and forecast 3D human pose from egocentric videos. The method learns directly from unsegmented egocentric videos…
Locating a target based on auditory and visual cues$\unicode{x2013}$such as finding a car in a crowded parking lot or identifying a speaker in a virtual meeting$\unicode{x2013}$requires balancing effort, time, and accuracy under…
This work describes a computer vision system that enables pervasive mapping and monitoring of human attention. The key contribution is that our methodology enables full 3D recovery of the gaze pointer, human view frustum and associated…
Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with…