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Gaussian Processes (\textbf{GPs}) are flexible non-parametric models with strong probabilistic interpretation. While being a standard choice for performing inference on time series, GPs have few techniques to work in a streaming setting.…

We present an adaptive approach to the construction of Gaussian process surrogates for Bayesian inference with expensive-to-evaluate forward models. Our method relies on the fully Bayesian approach to training Gaussian process models and…

We introduce Hindsight-Guided Momentum (HGM), a first-order optimization algorithm that adaptively scales learning rates based on the directional consistency of recent updates. Traditional adaptive methods, such as Adam or RMSprop , adapt…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

The quality of experience (QoE) is known to be subjective and context-dependent. Identifying and calculating the factors that affect QoE is indeed a difficult task. Recently, a lot of effort has been devoted to estimate the users QoE in…

Gait analysis from videos obtained from a smartphone would open up many clinical opportunities for detecting and quantifying gait impairments. However, existing approaches for estimating gait parameters from videos can produce physically…

This paper proposes an approach that estimates human walking gait quality index using an adversarial auto-encoder (AAE), i.e. a combination of auto-encoder and generative adversarial network (GAN). Since most GAN-based models have been…

The use of a feedback motion plan instead of the decoupled scheme consisting of separate plan and control phases can facilitate the task of proving the properties of an autonomous system. The advantage of using a feedback motion plan is the…

Increasing individuals' awareness of their own body signals can lead to improved interoception, enabling the brain to estimate current body states more accurately and in a timely manner. However, certain body signals, such as eye movements,…

Consider an assistive system that guides visually impaired users through speech and haptic feedback to their destination. Existing robotic and ubiquitous navigation technologies (e.g., portable, ground, or wearable systems) often operate in…

Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we propose an approach that combines both step location and timing…

Human motion prediction is an essential component for enabling closer human-robot collaboration. The task of accurately predicting human motion is non-trivial. It is compounded by the variability of human motion, both at a skeletal level…

Several pathologies can alter the way people walk, i.e. their gait. Gait analysis can therefore be used to detect impairments and help diagnose illnesses and assess patient recovery. Using vision-based systems, diagnoses could be done at…

Designing reward functions is a challenging problem in AI and robotics. Humans usually have a difficult time directly specifying all the desirable behaviors that a robot needs to optimize. One common approach is to learn reward functions…

Gait velocity has been consistently shown to be an important indicator and predictor of health status, especially in older adults. Gait velocity is often assessed clinically, but the assessments occur infrequently and thus do not allow…

Real-time human activity recognition plays an essential role in real-world human-centered robotics applications, such as assisted living and human-robot collaboration. Although previous methods based on skeletal data to encode human poses…

Analysing human gait has found considerable interest in recent computer vision research. So far, however, contributions to this topic exclusively dealt with the tasks of person identification or activity recognition. In this paper, we…

Gait recognition, which aims at identifying individuals by their walking patterns, has recently drawn increasing research attention. However, gait recognition still suffers from the conflicts between the limited binary visual clues of the…

Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized over several footsteps. In this paper, we argue that it is not…

Heating, Ventilation, and Air Conditioning (HVAC) systems account for approximately 38% of building energy consumption globally, making them one of the most energy-intensive services. The increasing emphasis on energy efficiency and…